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Kongsberg Seapath 320 Installation Manual Download Page 34

Seapath 320 
 

18 

 

M300-62/rev.2 

 

For description of the format for these messages, see APPENDIX A Output 
Protocols. 

Relay - alarm signal 

The Processing Unit has a built-in alarm functionality and can be connected to an 
external alarm. An alarm will open the alarm relay, which can be used to trigger an 
external alarm. The external alarm can be connected to the Alarm 3 pin terminal. 

 

Pin no. 

Signal 

1 

NC  

2 

Alarm_Com 

3 

Alarm_NO 

Table 7   Pin layout of Alarm 

The diagram below shows how an external alarm can be connected to the Processing 
Unit ALARM terminal. 

 

 

Figure 4   External alarm connection diagram 

 

 

Summary of Contents for Seapath 320

Page 1: ...Seapath 320 Installation Manual ...

Page 2: ...gsberg Seatex AS All rights reserved No part of this work covered by the copyright hereon may be reproduced or otherwise copied without prior permission from Kongsberg Seatex AS Disclaimer The information contained in this document is subject to change without prior notice Kongsberg Seatex AS shall not be liable for errors contained herein or for incidental or consequential damages in connection w...

Page 3: ...ch LCD 6 2 2 4 MRU Unit 6 2 2 5 MRU Wall Mounting Bracket 6 2 2 6 MRU Junction Box 6 2 2 7 Antenna Bracket 7 2 2 8 GNSS antenna 7 2 2 9 Cabinet 7 2 3 Power 7 2 3 1 Processing Unit 7 2 3 2 HMI Unit 8 2 3 3 Monitor 17 inch LCD 8 2 3 4 MRU 8 2 3 5 GNSS antenna 8 2 4 Environmental 8 2 4 1 Processing Unit 8 2 4 2 HMI Unit 9 2 4 3 Monitor 17 inch LCD 9 2 4 4 MRU Unit 9 2 4 5 GNSS antenna 9 2 5 External ...

Page 4: ...unction Box cable 12 2 11 3GNSS antenna cables Coax 13 2 12 Interfaces Processing Unit 14 2 12 1RS 422 A and B signal definition 15 2 12 2Pin layout 15 2 12 3LED indicators Processing Unit 21 2 12 4MRU to Processing Unit cable wiring 22 2 13 Interfaces HMI Unit 23 2 13 1Pin layout 24 2 13 2LED indicators HMI Unit 25 3 INSTALLATION 27 3 1 Logistics 27 3 2 Location of the system parts 27 3 2 1 GNSS ...

Page 5: ...llation 39 3 4 3 Setup of configuration parameters 42 3 4 4 Calibration 43 4 CONFIGURATION 51 4 1 Starting the system 51 4 2 System configuration 51 4 2 1 System modes 51 4 3 NavEngine configuration 52 4 4 Standard configuration 52 4 4 1 Vessel configuration 54 4 4 2 GNSS configuration 58 4 4 3 DGNSS configuration 61 4 4 4 MRU configuration 61 4 4 5 Monitoring points 66 4 4 6 Communication interfa...

Page 6: ...under format 9 99 A 6 RDI ADCP format 10 100 A 7 Binary format 11 100 A 8 Lehmkuhl gyro repeater format 12 102 A 9 1PPS time tag NMEA ZDA message 102 A 10 1PPS time tag Trimble compatible 103 A 11 Atlas Fansweep format 16 103 A 12 Echo sounder format 18 TSS1 104 A 13 Binary format 23 105 A 14 PFreeHeave format 24 106 A 15 Cyclic redundancy check algorithm 107 APPENDIX B INSTALLATION OF COAX CONNEC...

Page 7: ...ration 122 APPENDIX G FREE AND OPEN SOURCE SOFTWARE 123 G 1 GNU General Public License 123 G 2 GNU Lesser General Public License 126 G 3 BSD License 129 G 4 NTP License 129 G 5 Berkeley DB License 130 G 6 OpenSSL License 130 G 7 WU FTPD Software License 132 G 8 Ubuntu licensing 132 ...

Page 8: ...ll indicate actual MRU mounting orientation within bracket 38 Figure 15 MRU junction box mounting 39 Figure 16 Offset vectors between the different components 43 Figure 17 Page 1 of GNSS antenna calibration 46 Figure 18 Page 2 of antenna calibration wizard 47 Figure 19 Page 3 of antenna calibration wizard 47 Figure 20 Page 4 of antenna calibration wizard 48 Figure 21 Alignment of MRU yaw axis to v...

Page 9: ...g point MP4 added to list 69 Figure 45 Renaming of monitoring point to preferred name 69 Figure 46 Input output view before interface details are added 70 Figure 47 Input Output list view with configuration details 71 Figure 48 Configuration details view 71 Figure 49 I O properties view when serial interface is selected 72 Figure 50 I O properties view when net interface is selected 73 Figure 51 I...

Page 10: ... of Com 9 through Com 14 17 Table 6 Pin layout of PPS port 17 Table 7 Pin layout of Alarm 18 Table 8 Pin layout of Analog Out 19 Table 9 Pin layout of MRU 20 Table 10 Pin layout for LAN 1 Ethernet ports 20 Table 11 Pin layout for LAN 2 3 and 4 Ethernet ports 21 Table 12 MRU to Processing Unit cable wiring 23 Table 13 Connectors at rear of HMI Unit 24 Table 14 Connectors at front of HMI Unit 24 Tab...

Page 11: ...the center of the ship DGLONASS Differential GLONASS DGNSS Differential Global Navigation Satellite System DGPS Differential GPS ED50 European Datum of 1950 EGNOS European Geostationary Navigation Overlay System SBAS Europa EPE Estimated Position Error GLONASS Global Navigation Satellite System GNSS Global Navigation Satellite System GPS Global Positioning System GPS Time The time in the GPS syste...

Page 12: ...CG or rotation center PGND Power Ground PPS One Pulse Per Second PRN Pseudorandom Noise RMS Root Mean Square RTCM Radio Technical Commission of Maritime Services SL Speed Along Ship SNR Signal Noise Ratio SOG Speed Over Ground SBAS Satellite Based Augmentation System SRRD Seatex Rescue and Restore Disk ST Speed Transverse Ship SW Software UTC Universal Time Co ordinated This is the official time i...

Page 13: ...eapath product is defined as the vertical position relative to the WGS84 datum rotational ellipsoid Host system In this manual defined as Navigation computers Dynamic Positioning Systems etc receiving data from Seapath Origin The zero point in the coordinate system The origin is the intersection point between AP BL and CL P axis This axis is fixed in the vehicle and points in the starboard directi...

Page 14: ...f the vehicle to starboard Yaw A rotation about the vertical axis is positive when turning Eastward Clockwise when the vehicle cruises in North direction Normally yaw means the dynamic yaw motion References 1 M300 52 User Manual Seapath 320 2 NMEA 0183 Standard for Interfacing Marine Electronic Devices Version 3 0 3 RTCM Recommended Standards for Differential Navstar GPS GLONASS services Version 2...

Page 15: ...t to other countries than EU countries or Argentina Australia Canada Iceland Japan New Zealand Switzerland South Korea Turkey Ukraine and USA requires an export license Notice to Importer The MRU product specified in this document has been shipped from Norway in accordance with The Ministry of Foreign Affairs Official Notification on Export Control and may be subject to restrictions if re exported...

Page 16: ...ight to the sky minimum four visible satellites PDOP value less than 6 and otherwise normal conditions to operate It is designed for use on board marine surface operated vehicles with linear acceleration less than 30 m s2 3g and an angular rate range less than 150 s Only relative dynamic heave position is calculated ...

Page 17: ...ng software Part no M300 23 Antenna Bracket in aluminium 2 5 metre baseline Part no M320 21 Antennas two GPS GLONASS L1 L2 antennas Part no G060 24N Cable Interconnection N M N F four of 1 m Part no G071 91 Two as adapter cable from GNSS antenna connector to cable and two as adapter cable for GNSS antenna cable to PU N to N Seapath HMI Unit with operator software Part no M300 04 Cable for power Pr...

Page 18: ... and for output lines to external equipment Devices for reference measurements of roll pitch and heading for calibration General arrangement drawings of the ship should be acquired to simplify determination of offsets between the GNSS antennas the MRU the Navigation Reference Point NRP and the different monitoring points Locations for the various parts of the system must be decided and mounting ar...

Page 19: ...igned transportation container Keep the MRU in this container until ready to install the unit in the mounting bracket Note After the installation please save the transportation container To maintain warranty validity the MRU must be shipped in this container for service or repair ...

Page 20: ...Seapath 320 4 M300 62 rev 2 ...

Page 21: ...n accuracy with DGPS GLONASS 0 5 m RMS or 1 m 95 CEP Position accuracy with SBAS 0 5 m RMS or 1 m 95 CEP Position accuracy with RTK floating ambiguity mode 0 15 m RMS or 0 35 m 95 CEP Velocity accuracy 0 03 m s RMS or 0 07 m s 95 CEP The performance figures are valid with a minimum of four visible satellites HDOP less than 2 5 PDOP less than 6 high quality DGPS corrections correctly measured offse...

Page 22: ...eight 383 mm Depth 170 mm Weight 3 8 kg Colour Black and silver 2 2 4 MRU Unit Type MRU 5 Height 204 mm 8 032 Diameter 105 mm 4 134 Weight 2 5 kg Colour Blue Connector Souriau 851 36RG 16 26S50 MIL spec 2 2 5 MRU Wall Mounting Bracket Type MRU M MB3 Length 265 mm Width 119 mm Height 119 mm Weight 1 6 kg Colour Black Material POM H 2 2 6 MRU Junction Box Type MRU E JB1 Length 226 mm Width 126 mm He...

Page 23: ...enna Type Novatel GPS 702 GG Height 69 1 mm Diameter 185 mm Weight 0 5 kg Colour White The GNSS antenna is a right hand circular polarised L band antenna with an integral low noise amplifier The internal thread is 5 8 x 11 standard marine mount 2 2 9 Cabinet Height 390 mm Depth 600 mm Width 553 mm Depth with keyboard extended 770 mm Recommended free space from wall 20 mm 2 3 Power 2 3 1 Processing...

Page 24: ...ical 2 3 4 MRU Voltage 24 V DC from Processing Unit 2 3 5 GNSS antenna Voltage 5 V DC from Processing Unit 2 4 Environmental 2 4 1 Processing Unit Enclosure material Aluminium Operating temperature range 15 C to 55 C2 Recommended operating temperature Room temperature 20 C Storage temperature 20 C to 70 C Operating humidity Max 95 non condensing Storage humidity Less than 55 Ingress protection fro...

Page 25: ... range 5 to 40 C Relative humidity 20 to 80 2 4 4 MRU Unit Enclosure material Anodised aluminium Enclosure protection IP 66 Operating temperature range 5 to 55 C Operating humidity max Sealed no limit Storage temperature range 20 to 70 C Storage humidity Sealed no limit Max allowed vibration operational 10 2000 Hz continuous 0 5 m s2 Max allowed vibration non operational 0 200 Hz continuous 20 m s...

Page 26: ... 1 ms Data delay All data in real time 0 ms plus transmission delay 1PPS signal accuracy 220 nsec Analog outputs 3 user configurable channels 10 Volts 2 5 2 HMI Unit USB 3 ports 1 in front and 2 in rear LAN 1 Ethernet port in rear 2 5 3 MRU Unit Serial ports 1 RS 232 or RS 422 Digital output variables Max 16 Data output rates Max 100 Hz Timing 1 ms 2 6 Product safety 2 6 1 Processing Unit Electric...

Page 27: ...LL VTG HDT GST GSA and GRS NMEA proprietary PSXN 20 PSXN 21 PSXN 22 and PSXN 23 Simrad EM1000 Simrad EM950 and EM1000 compatible Seapath binary format 3 Simrad EM3000 Simrad EM3000 EM300 and HiPap compatible Calibration format Echo sounder format RD Instrument ADCP proprietary NMEA format PRDID Seapath binary format 11 Lehmkuhl gyro repeater format 1PPS time tag NMEA ZDA message 1PPS time tag Trim...

Page 28: ...unted in 6U cabinet 2 6 m Note If the Processing Unit is not marked with a compass safe distance label the unit shall be placed five metres from both the steering compass and the standard compass 2 11 Cables 2 11 1 MRU cable Type MRU E CS1 Heavy duty screened 14 x 2 x 0 25 mm2 Length 3 m Diameter 13 5 mm Weight 0 27 kg m Flame retardation IEC 332 1 Insulation ETFE Screen Cu braid 2 11 2 Processing...

Page 29: ...livered by Kongsberg Seatex make sure that the cables meet the following electrical specifications Insertion loss max 15 dB at 1 6 GHz Characteristic impedance 50 Ohm nominal DC resistance max 0 5 Ohm ground braid and centre conductor Table 1 GNSS antenna cable specification The antenna connectors on the Processing Unit are of N type male On the GNSS antennas both TNC type female and N type female...

Page 30: ... IALA N connector 50 Ohm female Not in use LAN 2 RJ 45 User configurable USB 2 USB User configurable USB 3 USB User configurable LAN 3 RJ 45 Not in use LAN 4 RJ 45 User configurable Mouse PS 2 Mouse Keyboard PS 2 Keyboard COM 1 9 pin DSub male RS 232 User configurable COM 2 9 pin DSub male RS 232 User configurable VGA HD15 female Monitor COM 9 5 pins terminal RS 232 422 User configurable COM 10 5 ...

Page 31: ... pins on the terminals goes from left no 1 to right 2 12 1 RS 422 A and B signal definition According to the following standard the signal state definitions are IEC 61162 1 The idle marking logical 1 OFF or stop bit states are defined by a negative voltage on line A with respect to line B The active spacing logical 0 ON or start bit states are defined by a positive voltage on line A with respect t...

Page 32: ...Com 9 to 14 and are not recommended used for timing critical outputs 2 12 2 2 Connector board The screw terminal pin layout on the connector board at the rear of the PU is described below Figure 3 Connector board Serial lines Com 9 Com 14 The system communicates with external equipment through the six RS 232 or RS 422 configurable serial input and output lines The configuration of serial lines and...

Page 33: ...h of 10 ms The 1PPS is generated exactly once every second with its rising edge synchronised to GPS time Compared to the Seapath 200 models which have a BNC connector this Seapath model uses a serial signal Pin no 1 TX_A has a positive edge at the beginning of the pulse and pin no 2 TX_B has a positive edge at the end of the pulse Pin no Signal Direction 1 1PPS TX_A Output 2 1 PPS TX_B Output 3 GN...

Page 34: ...be connected to an external alarm An alarm will open the alarm relay which can be used to trigger an external alarm The external alarm can be connected to the Alarm 3 pin terminal Pin no Signal 1 NC 2 Alarm_Com 3 Alarm_NO Table 7 Pin layout of Alarm The diagram below shows how an external alarm can be connected to the Processing Unit ALARM terminal Figure 4 External alarm connection diagram ...

Page 35: ...analog outputs is as follows Pin no Signal 1 GND_Isolated_DAC 2 Analog_Out_Ch2_N 3 Analog_Out_Ch2_P 4 GND_Isolated_DAC 5 Analog_Out_Ch1_N 6 Analog_Out_Ch1_P 7 GND_Isolated_DAC 8 Analog_Out_Ch0_N 9 Analog_Out_Ch0_P 10 GND_Isolated_DAC Table 8 Pin layout of Analog Out MRU The MRU connector is used for power and interface to an MRU Usually when an MRU is connected to a Processing Unit a junction box ...

Page 36: ... port and has less capacity 10 100 Mbps that the other LANs To connect this LAN to a network a straight through twisted pair TP cable with RJ 45 connectors must be used A straight through cable is one where the pins of one connector are connected to the same pins of the other connector In special instances a crossover cable instead of a straight through cable is needed for example when connecting ...

Page 37: ... pair D Table 11 Pin layout for LAN 2 3 and 4 Ethernet ports To connect the Processing Unit network use twisted pair TP cable with RJ 45 connectors To comply with the IEC 60945 standard shielded screened cable has to be used Recommended cable type is CAT 5e Category 5e cable is an enhanced version of Category 5 that adheres to more stringent standards It is capable of transmitting data at speeds o...

Page 38: ...of the four network cards The LED is red if there is an error on one or more network cards The LED is green when all four network cards are OK During normal operation all LEDs should be green as indicated to the right 2 12 4 MRU to Processing Unit cable wiring The MRU is connected to the Processing Unit with a cable which is terminated in the MRU junction box in one end and with a 10 pin terminal ...

Page 39: ...hich is an open end not connected to earth In the MRU junction box both the shield around each pair and the outer shield are terminated in pin 1 chassis on the x3 side Note It is important to insert a wire between pin 24 LGND and pin 27 Shutoff on the user side x1 in the MRU junction box in order to establish RS 422 communication between the MRU and the Processing Unit Otherwise there will be no c...

Page 40: ...port is mainly used to connect the HMI Unit to the Processing Unit normally LAN 2 via network This LAN has 10 100 Mbps capacity To connect this LAN to a network a straight through twisted pair TP cable with RJ 45 connectors must be used A straight through cable is one where the pins of one connector are connected to the same pins of the other connector Below is the pin wiring for the twisted pair ...

Page 41: ...It is capable of transmitting data at speeds of up to 1000 Mbps 1 Gigabit per second The maximum length of the cable that can be used is 100 metres 328 ft 2 13 2 LED indicators HMI Unit At the front of the HMI Unit there are four LED indicators The LED to the left indicates power and software status The other LEDs have for the moment no function and will always be turned off During start up the in...

Page 42: ...Seapath 320 26 M300 62 rev 2 ...

Page 43: ...elines to be followed when working in mast and on deck Personnel qualifications Trained electrical workers Minimum number of personnel 2 especially when mounting the Antenna Bracket to the Holder Ship location The GNSS antennas have to be mounted such that blocking of the GNSS signal is avoided The MRU 5 unit is preferably mounted low in the ship or close to the system to be compensated The Proces...

Page 44: ...nsors which only utilise pseudo range data This since Seapath also utilises carrier phase measurements for heading determination and both GNSS antennas need to see at least four common satellites at the same time Caution The GNSS antennas have to be mounted in such a way that blocking of the GNSS signal I avoided In order to reduce problems due to multipath effects the GNSS antennas have to be mou...

Page 45: ... equipment and to eliminate errors due to ship hull torsion If the system is not allocated to measure motion of a particular user equipment mount the MRU as close to the Navigation Reference Point NRP as possible This to ensure best roll and pitch measurements If it is not possible to mount the MRU close to NRP try to mount it along the longitudinal axis of the ship and as close to the NRP as poss...

Page 46: ...I Unit When installing the HMI Unit consider the following The unit is designed for indoor installation and should not be exposed to heavy vibrations transformers or similar The unit should be resiliently mounted in a 19 inch rack to be in accordance with the environmental standard IEC60945 EN60945 The unit has an internal fan and requires free airflow from the rear and out to the sides It is reco...

Page 47: ...rdinate system can consist of a Y axis positive forwards which is parallel to the centre line of the vessel an X axis positive to starboard and a Z axis positive upwards All axes are mutually perpendicular The origin where Y 0 X 0 and Z 0 CRP or Common Reference Point is normally defined to be at the AP centre Rudder Stock underside keel which is also where the design origin is commonly located in...

Page 48: ...yed The offset between the gyro compass heading and the vessel centre line CL Note The heading offset to be surveyed to an accuracy better than 1 Static gyro calibration verification heading log and DGNSS health check should be done after all DGNSS and gyro systems are installed and fully operational This can be performed in dock or alongside Dynamic gyro calibration verification and attitude cont...

Page 49: ...ck Minimum depth of the rack is 500 mm It is recommended that the rack is resiliently mounted It is recommended that the rack has air inlet on top and bottom or ventilation splits on the sides The Processing and HMI units have ventilation on the sides Forced ventilation may be required if the cabinet contains several electronic modules All cables connected to the unit must be screened Make sure th...

Page 50: ...rizontal or vertical When the Antenna Bracket is mounted vertically the drawings in Figure 8 Figure 9 and Figure 10 are not correct Figure 8 Dimensional drawing for antenna holder 2 Bring the Antenna Bracket the two GNSS antennas and the antenna cables as close as possible to the location of the antenna holder While both the GNSS antennas and the Antenna Bracket are down on deck mount the GNSS ant...

Page 51: ...and the antenna cable should be sealed against water penetration preferably by using waterproof self vulcanising tape The GNSS antenna cables are then strapped inside the Antenna Bracket as shown in Figure 11 5 Lift the Antenna Bracket in the preferred direction on the holder Figure 10 Different components for mounting of Antenna Bracket 6 Ensure that the delivered insulation plate is used between...

Page 52: ...room or bridge The mechanical installation of the various parts is performed in the following steps 1 When the best mounting location for the MRU has been identified place the MRU mounting bracket in the preferred orientation and make screw holes in the foundation If the orientation of the bracket can be freely selected mount the bracket on the longitudinal or transversal bulkheads of the ship wit...

Page 53: ...Figure 13 Mark and drill a M6 hole for the top screw 1 and enter the screw without tightening it completely Align the bracket vertically using its own weight or by aligning it in relation to the wall Drill two holes for the lower screws 2 and insert and securely tighten all three screws using washers or self locking nuts Figure 13 Wall mounting of bracket with MRU connector pointing down ...

Page 54: ... the unit is to be exchanged or removed temporarily Figure 14 Sticker 4 shall indicate actual MRU mounting orientation within bracket Note If the MRU is mounted correctly in the bracket the R arrow on the top of the MRU will point in the bow direction of the ship and the same direction as the R axis of the sticker If uncertain whether the MRU R axis is pointing in the bow direction look under the ...

Page 55: ...The HMI Unit has to be fastened both in front and rear of the rack Minimum 10 cm free space is needed behind the module for connection of cables 3 4 2 Electrical installation The electrical installation consists of Connecting two cables between the GNSS antennas and the Processing Unit Connecting a cable between the MRU junction box and the Processing Unit Connecting an Ethernet cable between the ...

Page 56: ...nna cables must be as straight as possible Do not crush or crimp the cable with tie downs as this will affect the electrical properties of the cables 3 Enter the cable from the MRU port at the rear of the Processing Unit through one of the free nipples on the junction box Ensure that the cable shield is in contact with the nipple for grounding before the cable is fastened to the box Use the requir...

Page 57: ...on 1 PWRIN power 23 XIN to MRU 2 PWRIN power gnd 24 LGND gnd ref aux dig 3 TX from MRU 27 SHUTOFF of MRU 4 TX 5 RX to MRU 6 RX 6 Connect the cables for output data from Seapath to external equipment to the Com ports 1 and 2 or the terminals Com9 to Com14 analog output signals or the Ethernet connection Note Cable with shield has to be used in order to fulfil the Seapath power and EMC requirements ...

Page 58: ... of configuration parameters Setup consists of Entering lever arm vectors and mounting angles for the MRU and the GNSS antennas in the NavEngine configuration of the operator software Entering input and output data interface in the NavEngine configuration of the operator software The setup parameters are entered into the operator software on the HMI Unit See chapter 4 1 for a description of the op...

Page 59: ...l calibration consists of Calibrating the direction of GNSS antennas against an external reference Type of reference must be decided according to the required accuracy Calibrating the MRU axes measured by the MRU against an external reference Decision on whether MRU calibration is needed and type of reference is based on the type of system to which the Seapath is interfaced and the accuracy requir...

Page 60: ...within a tolerance of one centimetre or better If the standard antenna bracket is used the baseline is 2 5 metres Enter the measured baseline length into the Processing Unit by using the operator software The observations from each of the two different systems are then averaged and the offset between the two systems reference minus Seapath reading is the Seapath heading offset If heading offset wa...

Page 61: ...es are used by the Seapath press Apply on MRU mounting angle changes before entering the calibration wizard Else the calculation of the height difference in the calibration wizard will be incorrect unless the vessel has zero roll and pitch Incorrect height difference will degrade the heading accuracy 2 Select the System menu and NavEngine to enter the NavEngine configuration dialog Select Sensors ...

Page 62: ... been entered correctly Figure 17 Page 1 of GNSS antenna calibration 5 In Step 2 input 120 minutes two hours as the calibration period and the logging interval as 10 seconds Log the calibration data to the file Seapath cal on a preferred folder on the PC 6 Before pressing Next and start logging of Seapath GNSS it is recommended to start recording data of the vessel reference heading on another PC ...

Page 63: ...ion Manual M300 62 rev 2 47 Figure 18 Page 2 of antenna calibration wizard 8 Click Next to proceed to page 3 Data edit for information about the calibration result Figure 19 Page 3 of antenna calibration wizard ...

Page 64: ...ntenna calibration wizard 11 Click Finish to accept the result and exit the antenna calibration wizard 3 4 4 3 Calibration of MRU axis After the mechanical installation is completed the MRU R P and Y axes must be aligned to the corresponding vessel axes or the axes of the system to be compensated To achieve the MRU s specified roll and pitch accuracy any misalignment of the MRU axes with the vesse...

Page 65: ...described later in this manual This includes an automatic procedure for obtaining the roll and pitch mounting angles Figure 21 Alignment of MRU yaw axis to vessel longitudinal axis An accurate alignment of the MRU R arrow towards the vessel s longitudinal axis yaw orientation is of special importance If not properly aligned the performance of the roll and pitch measurements from the MRU will be de...

Page 66: ...Seapath 320 50 M300 62 rev 2 Figure 22 Value of roll error as a function of vessel pitch angle displayed at 0 5 1 and 1 5 MRU yaw misalignment ...

Page 67: ...tion 4 2 1 System modes The product has three system modes indicated in the System mode field of the Top bar Operation mode This is the default mode In this mode it is not possible to launch any external applications diagnostic tools or reconfigure the system Configuration mode In this mode it is possible to change settings related to the connected sensors applications and system wide settings Fig...

Page 68: ...e when logged into Configuration mode while the Advanced configuration is available in Engineering mode Figure 24 NavEngine configuration 4 4 Standard configuration When Standard configuration is selected from the System menu the NavEngine Configuration view is displayed Figure 25 NavEngine Configuration view At the top of the NavEngine Configuration view there are three buttons to handle the conf...

Page 69: ... files are named with the date and time they were saved The ten last files are displayed in the list Via the Browse button at the bottom of the list it is possible to find all saved files Figure 26 History button The following parameters can be set in the Standard configuration Vessel geometry and description Sensor data including GNSS geometry and processing DGNSS and SBAS MRU geometry and heave ...

Page 70: ...screen to the actual vessel its dimensions have to be input Description Vessel data for the specific installation This information is helpful to identify the correct configuration file at a later stage 4 4 1 1 Vessel geometry The Vessel Geometry view defines the vessel dimensions Figure 28 Vessel geometry view In the Vessel dimension section it is possible to set the following parameters LOA The o...

Page 71: ... monitoring points just place the PC mouse on the screen on the spot where the sensor or monitoring point is wanted and the coordinates for this point are then automatically defined It is possible to select a pre defined shape of the vessel which is ship rig or jackup or to define the shape from File as a User Bitmap or User Text with 2D description of the vessel To input Vessel shape from file as...

Page 72: ...Seapath 320 56 M300 62 rev 2 Figure 29 Example GA drawing of multi purpose vessel Figure 30 Example of vessel shape in user text file ...

Page 73: ...l Description view contains mostly textual information regarding the vessel Figure 32 Vessel Description view Vessel name The name of the vessel Vessel owner The name of the vessel owner Country of origin The name of the vessel s country of origin MMSI The MMSI assigned to the vessel IMO Number The IMO ID assigned to the vessel ...

Page 74: ...he standard Antenna Bracket is used otherwise this length has to be measured manually and this value entered For the heading offset and height difference input zero Then click on the Calibration wizard button to prepare the calibration The Heading Offset and Height Difference is automatically updated trough the Calibration wizard process Check that the orientation of the antennas in the vessel sha...

Page 75: ...and change the selection from Off which is the default setting to Filter The Aided Height is the height of NRP above sea level This height should be set when Filter is selected since the filter will start with the entered height value as the initial value The SV masking value can be changed from the default value 10 by entering an Elevation mask value between 7 and 20 degrees This value must not b...

Page 76: ...t RTK solution is required However in this mode the probability for an incorrect solution from the system increases Figure 34 GNSS Processing settings view 4 4 2 3 GNSS Attitude Processing In this dialogue the maximum values to be used for attitude processing can be changed However these parameters are only to be changed if the vessel has an unusual characteristic Figure 35 GNSS Attitude Processin...

Page 77: ...ecific SBAS satellite is selected the system will select and use data from the best of the available satellites If the selected SBAS satellite is not available the system will not use the SBAS correction data in the computations Maximum two SBAS satellites may be tracked by the GNSS receiver 4 4 4 MRU configuration 4 4 4 1 MRU Geometry The lever arm vector from the AP to the MRU location has to be...

Page 78: ...ated from AP The MRU location has to be measured or calculated based upon drawings or previously measured points MRU mounting angles The mounting angles of the MRU in roll pitch and yaw have to be input to the MRU The MRU mounting wizard can be used to determine these mounting angles 4 4 4 2 MRU mounting wizard To use the MRU Mounting Wizard proceed as follows 1 Press the Mounting wizard button in...

Page 79: ...t of Figure 39 to turn the MRU unit around in 90 degree steps axis by axis Click until correct mounting orientation of the MRU has been found The right part of this dialogue is automatically updated with the actual main rotation of the MRU Click Next to proceed to Step 3 Figure 39 Step 2 of Manual input of mounting angles ...

Page 80: ...ositive roll offset means starboard right side facing downward or a clockwise rotation about the x axis Positive pitch offset means bow up or a clockwise rotation about the y axis Positive yaw offset heading azimuth means a turn to starboard right or a clockwise rotation about the z axis Figure 40 Step 3 of Manual input of MRU mounting angles 5 Press Finish to finish the manual setting of the MRU ...

Page 81: ...d period on oceanographic buoys Hydrographic survey To be selected when the heave phase and amplitude have to be output correct in real time This mode is typically selected when the heave output signal from the Seapath is to be used for heave compensation of echo sounders and offshore crane systems Period An expected average heave period has to be set to the heave filter This period can be determi...

Page 82: ...instead its value depends on the vessel tilt at any time This option is useful especially in applications where the distance between the MP and the sea level is to be determined like in echo sounder installations with depth changes due to changes in vessel trim and list If this mode is not selected the heave will always have zero mean level 4 4 5 Monitoring points Enter the Monitoring Point config...

Page 83: ...d monitoring point coordinates are shown at the bottom of the view To get exact coordinates from AP to each monitoring point each monitoring point has to be measured or calculated based upon drawings or previously measured points and entered into the software manually To delete a point select the cross Note If data shall be valid for NRP it is not necessary to define a zero vector since the data i...

Page 84: ... position and name of the added point may also be adjusted by writing the co ordinates into the table below the vessel drawing Figure 43 illustrates adding a new new monitoring point by clicking on the cross symbol and draging the mouse and cross to the correct location Figure 43 Add a new monitoring point Figure 44 illustrates that a new monitoring point MP4 has been added to the list of monitori...

Page 85: ...M300 62 rev 2 69 Figure 44 New monitoring point MP4 added to list Figure 45 illustrates renaming of a monitoring point to a preferred name here from MP4 to Helideck Figure 45 Renaming of monitoring point to preferred name ...

Page 86: ...ce details are added Figure 46 Input output view before interface details are added When selecting an interface the Input Output view will be divided into two sections The upper part consists of the list with all interfaces The lower part consists of Configuration details for the interface selected in the list The configuration details vary between the different interfaces ...

Page 87: ...ion details The Configuration details view is the lower part of the Input Output list view The Configuration details view is divided into two sections an interface selection section and an I O Properties section Figure 48 Configuration details view The Interfaces possible to be setup for Seapath are Gyro DGNSS link ...

Page 88: ...is as shown in Figure 49 Figure 49 I O properties view when serial interface is selected The I O Properties view when Serial interface is selected contains the following parameters Port Serial port number Corresponds to the number at the rear of the Processing Unit Baud rate Up to 115 200 bites second Electric RS 232 or RS 422 Under the collapsible Details group box less used properties are placed...

Page 89: ...t on the Processing Unit IP address The target IP address Protocol The UDP protocol Options are Broadcast_TX Multicast_TX or Unicast Port The number of the port to which the client listens 4 4 6 4 Telegram out properties When the Interface selected is set to TelegramOut the Telegram out properties view is enabled at the bottom of the Configuration details view see Figure 51 Figure 51 Interface set...

Page 90: ...en messages being output Options From the Options drop down list specific telegram outputs are set The options are as described in Figure 52 Figure 52 Telegram output options The telegram options are Output residuals on Ashtech RRE format GRS Send VHW message after VTG using ground speed from VTG Output empty fields in HDT message even when accuracy is reduced Use inertial roll pitch and heave onl...

Page 91: ...a dropdown list the following NMEA telegrams can be selected DTM GBS GGA GLL GNS GRS GSA GST GSV RMC ZDA VTG VBW P20 P21 P22 P23 P24 ROT HDG HDT ALL Figure 53 Available NMEA telegrams Datum It is possible to set the following datum ED 50 WGS 84 or NAD 27 Type Event driven or Timer driven When Timer driven is selected the output interval between the telegrams can be decided 4 4 6 5 Gyro properties ...

Page 92: ... Robertson Geoconsult NMEA HDM NMEA PSXN10 EM3000 NMEA HRC NMEA PSXN23 Priority Priority of the gyro interface If more than one gyro interface is defined and available one is selected for use based on the priority specified Checksum required Enable or disabled If disabled no NMEA checksum is required 4 4 6 6 Telegram timing The selections and parameters displayed in the Telegram timing view are sh...

Page 93: ...NSS links may be set up Figure 56 DGNSS link properties Name Name of the link displayed in the HMI Supplier Name of the correction link supplier May be Fugro IALA Petrobras Topnav or other Timeout Age limit If the age of the correction exceeds this limit the corrections are invalid s Short range Enable or disabled If enabled the stations received on this link are treated as near stations distance ...

Page 94: ... roll 1 to 1 sin pitch 1 to 1 Gain Set signal gain Offset Set signal offset Figure 57 Analog output properties Note Negative gain and the value 1 have to be used for Heave in order to make the variables positive according to the Datawell co ordinate system The variable sin mod roll is to be selected for roll and sin pitch for pitch Both variables to be selected with positive gain 10 in order to ac...

Page 95: ...ort The port the NavEngine should send data to Note If the NavEngine should send data to the Operator software the UDP address and UDP port must match the Address and Port entered in the Data Source tab in the Operator software configuration 4 5 Configuration backup The Tools Copy Configuration will launch a tool that copies all relevant configuration information to an archive file compatible with...

Page 96: ... menu that appears select Return to OS Choices menu and press the Enter key 3 Select Seatex Rescue and Restore and press Enter 4 Enter stx as password 5 Wait until the menu appears 6 Plug in the USB stick delivered with the system 7 Wait about 5 seconds and then select Refresh menu 8 The menu choice Create a System Rescue and Restore Disk should now appear If not repeat the above step 9 Choose Cre...

Page 97: ...the completion message appears return to the menu 13 Select Shut down When the message System halted appears you should remove the USB stick and press the Ctrl Alt Delete keys simultaneously to boot the system as normal 14 Store the SRRD in a safe place ...

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Page 99: ... drawings showing mechanical dimensions of the Processing and HMI Units the GNSS Antenna Bracket and Holder the MRU 5 and its mounting bracket the MRU junction box the GNSS antennas and the 6U cabinet Note The drawings are note to scale To scale drawings are available on request ...

Page 100: ...Seapath 320 84 M300 62 rev 2 5 1 Processing and HMI Units ...

Page 101: ...Installation Manual M300 62 rev 2 85 ...

Page 102: ...Seapath 320 86 M300 62 rev 2 5 2 Antenna bracket ...

Page 103: ...Installation Manual M300 62 rev 2 87 5 3 MRU and mounting bracket ...

Page 104: ...Seapath 320 88 M300 62 rev 2 ...

Page 105: ...Installation Manual M300 62 rev 2 89 5 4 MRU junction box ...

Page 106: ...Seapath 320 90 M300 62 rev 2 5 5 GNSS antenna mechanical drawings Excerpt from GPS 702 GG GPS 701 GG and GPS702 GG N User Guide OM 20000095 rev 1B August 7 2009 NovAtel Inc ...

Page 107: ...Installation Manual M300 62 rev 2 91 5 6 6 U cabinet dimensions ...

Page 108: ...Seapath 320 92 M300 62 rev 2 ...

Page 109: ...1PPS NMEA ZDA 13 1PPS time tag NMEA ZDA message 1PPS Trimble 14 1PPS time tag Trimble compatible message Atlas Fansweep 16 Atlas Fansweep format Echo Sounder fmt18 18 Echo sounder format TSS1 compatible Seapath binary 23 23 Seapath binary format 23 PFreeHeave format 24 Delayed heave format A 1 NMEA format The NMEA format is an ASCII text format using ZDA GGA GLL VTG HDT GST GSA and GRS messages de...

Page 110: ...tude on format ddmm mmmmmm where dd is degrees 00 90 and mm mmmmmm is minutes 00 000000 59 999999 long Longitude on format dddmm mmmmmm where ddd is degrees 000 180 and mm mmmmmm is minutes 00 000000 59 999999 gga qual GPS quality indicator 0 invalid position 1 GPS SPS used 2 DGPS used 3 GPS PPS used 4 GPS RTK used 5 GPS float RTK used 6 dead reckoning nsat Number of satellites in use 00 99 hdop H...

Page 111: ... GPS range residual in metres on format m m no fraction if the value is greater than 99 9 metres horiz qual Horizontal position and velocity quality 0 normal 1 reduced performance 2 invalid data hgt qual Height and vertical velocity quality 0 normal 1 reduced performance 2 invalid data head qual Heading quality 0 normal 1 reduced performance 2 invalid data rp qual Roll and pitch quality 0 normal 1...

Page 112: ...t of the available NMEA messages can be configured individually for each serial line A 2 Binary format 3 This binary format consists of a fixed length message using single byte unsigned 4 byte two complement integer and 4 byte IEEE floating point data elements For the multi byte elements the most significant byte is transmitted first Format Element Scaling Format Bytes Value Header ASCII 1 ASCII q...

Page 113: ...ags numbered from 0 to 31 where 0 is the least significant bit A 1 value true means Bit no Interpretation 0 Reduced horizontal position and velocity performance 1 Invalid horizontal position and velocity data 2 Reduced heave and vertical velocity performance 3 Invalid heave and vertical velocity data 4 Reduced roll and pitch performance 5 Invalid roll and pitch data 6 Reduced heading performance 7...

Page 114: ...ormal 91 Hex Reduced performance A0 Hex Invalid data Invalid data are also indicated by values outside the specified ranges When the status is A0 the values which are within specified ranges can be assumed to have valid but reduced quality A 4 Calibration format The calibration format is a columnar ASCII text format for use when calibrating the GNSS antenna installation Format Element Columns Scal...

Page 115: ...ut unless the GNSS phase measurements are valid A 5 Echo sounder format 9 This echo sounder format is a proprietary ASCII text format with fixed length records used when connecting Simrad EA500 and other echo sounders Format Element Columns Scaling Format Header 1 7 000000 Heave 9 13 1 cm sdddd Warning 14 space or Roll 15 19 0 01 degree sdddd Pitch 21 25 0 01 degree sdddd Term 26 27 CR LF Heave is...

Page 116: ... up head Heading degrees true on format ddd dd with leading zeroes where appropriate term CR LF 2 bytes values 13 and 10 A 7 Binary format 11 This binary format consists of a fixed length message using 1 2 and 4 byte signal and unsigned integers The signed integers are represented as two complement numbers For the multi byte elements the most significant byte is transmitted first The total number ...

Page 117: ...n integer seconds part and a fractional second part The integer seconds part of time is counted from 1970 01 01 UTC time ignoring leap seconds Latitude is positive north of the Equator Longitude is positive east of Greenwich Height is above the ellipsoid Heave is positive down Roll is positive with port side up Pitch is positive with bow up The status word consists of 16 single bit flags numbered ...

Page 118: ...ing the ZDA message defined in 1 The message contains the UTC time when the message is output The next time pulse appears at the first integer second after the time in the message Format INZDA time day month year csum term Explanation time UTC time on format hhmmss ss where hh is hours 00 23 mm is minutes 00 59 and ss ss is seconds 00 00 59 99 day Day of month 01 31 month Month of year 01 12 year ...

Page 119: ...ype is 5 for 3D fix with accurate time for no fix time from receiver clock No of satellites is 1 8 for 1 8 satellites tracked 9 for 9 or more satellites tracked for no fix time from receiver clock Columns between elements are filled with spaces A 11 Atlas Fansweep format 16 This Atlas format is a proprietary binary format used for outputting data to Atlas Fansweep echo sounders It consists of a fi...

Page 120: ...ormat Element Columns Scaling Format Header 1 7 000000 Heave 9 13 1 cm sdddd Warning 14 F or f Roll 15 19 0 01 degree sdddd Pitch 21 25 0 01 degree sdddd Term 26 27 CR LF Heave is positive up Roll is positive with port side up Pitch is positive with bow up The zeroes in the header occupy the columns used for acceleration when this format is output from other systems Seapath does not output acceler...

Page 121: ...conds Seconds Integer 4 Time fraction of second 0 0001 second Unsigned 2 0 to 9999 Latitude 230 90 degrees Integer 4 230 to 230 Longitude 230 90 degrees Integer 4 231 to 231 Height Centimetres Integer 4 Heave Centimetres Integer 2 North velocity Centimetres second Integer 2 East velocity Centimetres second Integer 2 Down velocity Centimetres second Integer 2 Roll 214 90 degrees Integer 2 215 to 21...

Page 122: ...rformance 1 Invalid horizontal position and velocity data 2 Reduced heave and vertical velocity performance 3 Invalid heave and vertical velocity data 4 Reduced roll and pitch performance 5 Invalid roll and pitch data 6 Reduced heading performance 7 Invalid heading data The remaining bits in the status word are reserved for future expansion A 14 PFreeHeave format 24 This PFreeHeave format consists...

Page 123: ...1 01 UTC time ignoring leap seconds Heave is positive down The status field is zero if heave is valid non zero if heave is invalid A 15 Cyclic redundancy check algorithm The 16 bit Block Cyclic Redundancy Check algorithm used to calculate the checksum in some formats is described in C and Fortran source code below C code define POLY 0x8408 unsigned short blkcrc unsigned char bufptr message buffer ...

Page 124: ...ata poly CHARACTER inbuffer poly 16 8408 crc 16 FFFF data 0 IF len EQ 0 THEN crc 0 RETURN END IF DO i 1 len data ICHAR inbuffer i i DO bit 1 8 data IAND data 16 FF IF IAND crc 16 01 EQ IAND data 16 01 THEN crc ISHL crc 1 ELSE crc ISHL crc 1 crc IEOR crc poly END IF data ISHL data 1 END DO END DO data IEOR crc 16 FFFF crc IOR ISHL data 8 IAND ISHL data 8 16 FF END ...

Page 125: ...Installation Manual M300 62 rev 2 109 APPENDIX B INSTALLATION OF COAX CONNECTORS ON SUPERFLEX CABLE The connector consists of two parts the connector head and the cable entry ...

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Page 129: ...Installation Manual M300 62 rev 2 113 ...

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Page 131: ...s are well tightened 2 Align the mount thread with the metal adapter on the bottom of the antenna and rotate the antenna clockwise until it is securely screwed to the mount Using a wrench tighten the adapter to the mount 3 Remove the dust cap from the antenna s N Type connector 4 Attach the male N Type connector of the coaxial cable to the antenna s N Type 5 Attach the end of the coaxial cable to ...

Page 132: ...nsure your antenna performs optimally keep the radome top surface of the antenna clean and brush off any ice and snow In addition ensure the N Type connector remains clean and dry and replace the dust cap when a cable is not connected Excerpt from GPS 702 GG GPS 701 GG and GPS702 GG N User Guide OM 20000095 rev 1B August 7 2009 NovAtel Inc ...

Page 133: ...Installation Manual M300 62 rev 2 117 APPENDIX D COAX CABLE SPECIFICATION ...

Page 134: ...Seapath 320 118 M300 62 rev 2 ...

Page 135: ...Installation Manual M300 62 rev 2 119 APPENDIX E RG 214 SPECIFICATIONS ...

Page 136: ...Seapath 320 120 M300 62 rev 2 ...

Page 137: ...it The extender is a 8 port RS 232 422 485 serial device server type Moxa NPort 5650I 8 DT Figure 60 Serial port extender with 8 ports F 1 Mechanical installation Mounting accessories are available for installing the serial port extender the optional power supply and the optional Ethernet switch on a DIN rail Alternatively the serial port extender can be installed on a panel ...

Page 138: ...ect Main Menu Save Restart Open the chosen IP address in a web browser The web browser must accept cookies Select Main Menu Serial settings Set Flow control to None for all ports Set Interface to RS 422 or RS 232 for each port to match the connected equipment No other configuration changes should be made in the web browser Submit and activate the configuration In NavEngine advanced configuration s...

Page 139: ... that you receive source code or can get it if you want it that you can change the software or use pieces of it in new free programs and that you know you can do these things To protect your rights we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights These restrictions translate to certain responsibilities for you if you distribute copies o...

Page 140: ...f Sections 1 and 2 above provided that you also do one of the following Accompany it with the complete corresponding machine readable source code which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or Accompany it with a written offer valid for at least three years to give any third party for a charge no more than your cost of p...

Page 141: ...REED TO IN WRITING WILL ANY COPYRIGHT HOLDER OR ANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE BE LIABLE TO YOU FOR DAMAGES INCLUDING ANY GENERAL SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES ...

Page 142: ...erent from the ordinary General Public License We use this license for certain libraries in order to permit linking those libraries into non free programs When a program is linked with a library whether statically or using a shared library the combination of the two is legally speaking a combined work a derivative of the original library The ordinary General Public License therefore permits such l...

Page 143: ...n these notices Once this change is made in a given copy it is irreversible for that copy so the ordinary GNU General Public License applies to all subsequent copies and derivative works made from that copy This option is useful when you wish to copy part of the code of the Library into a program that is not a library 4 You may copy and distribute the Library or a portion or derivative of it under...

Page 144: ... parties with this License 11 If as a consequence of a court judgment or allegation of patent infringement or for any other reason not limited to patent issues conditions are imposed on you whether by court order agreement or otherwise that contradict the conditions of this License they do not excuse you from the conditions of this License If you cannot distribute so as to satisfy simultaneously y...

Page 145: ...disclaims all copyright interest in the library Frob a library for tweaking knobs written by James Random Hacker signature of Ty Coon 1 April 1990 Ty Coon President of Vice That s all there is to it G 3 BSD License Copyright c 1996 1998 1999 The Internet Software Consortium Copyright c 1996 1997 1998 1999 Theodore Ts o Copyright c Ian F Darwin 1986 1987 1988 1989 1990 1991 1992 1994 1995 Copyright...

Page 146: ...ons 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 3 Neither the name of the University nor the names of its co...

Page 147: ...Eric Young eay cryptsoft com All rights reserved This package is an SSL implementation written by Eric Young eay cryptsoft com The implementation was written so as to conform with Netscapes SSL This library is free for commercial and non commercial use as long as the following conditions are aheared to The following conditions apply to all code found in this distribution be it the RC4 RSA lhash DE...

Page 148: ... Institute of Technology Portions Copyright c 1997 Stan Barber Portions Copyright c 1997 Kent Landfield Portions Copyright c 1991 1992 1993 1994 1995 1996 1997 Free Software Foundation Inc Use and distribution of this software and its source code are governed by the terms and conditions of the WU FTPD Software License LICENSE If you did not receive a copy of the license it may be obtained online a...

Page 149: ... the privilege and that you can pass these rights on to other people on exactly the same basis Must allow these rights to be passed on along with the software You should be able to have exactly the same rights to the software as we do Must not discriminate against persons groups or against fields of endeavour The license of software included in Ubuntu can not discriminate against anyone or any gro...

Page 150: ...e restricted component and we would encourage you to do so Software installed by default When you install Ubuntu you will typically install a complete desktop environment It is also possible to install a minimal set of software just enough to boot your machine and then manually select the precise software applications to install Such a custom install is usually favoured by server administrators wh...

Page 151: ...ction 20 F free and open source software 123 G GNSS antenna installation 115 I installation procedures 36 J junction box mounting 38 L LED 21 25 M mechanical installation 36 MRU geometry 61 MRU Mounting Wizard 62 P pin layout 15 pin layout MRU 19 PPS signal 17 R relay alarm signal 18 RG 214 specifications 119 S SBAS tracking 61 Seatex Rescure and Restore Disk 80 serial lines 16 SRRD 80 system mode...

Page 152: ...Seapath 320 136 M300 62 rev 2 ...

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