ProNav V200N User Manual Download Page 5

Page: 5 / 68

ProNav Norway – a

Company

page 5

Rev.2

10.02.2020

Terms and Definitions

Introduction

The following table lists the terms and definitions used in this document.

Term

Definition

Activation

Activation refers to a feature added through a one-

time purchase.

Atlas

Atlas is a subscription-based service provided by

Hemisphere that enables the V200n to achieve sub-

meter accuracy without a base station or datalink.

BeiDou

BeiDou is a Chinese satellite-based navigation

system.

DGPS/DGNSS

Differential GPS/GNSS refers to a receiver using

Differential Corrections.

Differential

Corrections

A method of improving precision of a GNSS rover.

Two GNSS receivers placed in a nearby area will

have similar error. A base station is placed over a

known point.

Firmware

Firmware is the software loaded into the receiver

that controls the functionality of the receiver and

runs the GNSS engine.

GALILEO

Galileo is a global navigation satellite system

implemented by the European Union and European

Space Agency.

GLONASS

Global Orbiting Navigation Satellite System

(GLONASS) is a Global Navigation Satellite System

deployed and maintained by Russia.

Heading

The vector created from the primary to secondary

antenna. It points to the direction that the receiver

is facing.

Vector Receiver A Hemisphere GNSS receiver capable of providing

heading.

Summary of Contents for V200N

Page 1: ...ProNav Norway a Company page 1 Rev 2 10 02 2020 USER GUIDE Last update 10 02 2020 Rev 2 0 PRONAV AS Hovlandsveien 52 4374 EGERSUND TLF 51 46 43 00 mail pronav no www pronav no PRONAV V200N GPS COMPASS ...

Page 2: ...Max to Communicate with the V200n 12 Firmware Upgrades 15 Chapter 2 Mounting the V200n 19 Chapter 3 Connecting the V200n 34 Connecting the V200n to External Devices 36 Chapter 4 Understanding the V200n 37 GNSS Overview 38 Supplemental Sensors 40 Appendix A Troubleshooting 45 Appendix B Technical Specifications 49 Appendix C Commands and Messages 53 NMEA 2000 Messages 54 NMEA 2000 Proprietary Messa...

Page 3: ... any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Hemisphere GNSS Trademarks Hemisphere GNSS the Hemisphere GNSS logo TRACERTM Crescent EclipseTM e Dif L DifTM PocketMax4TM S320TM SBX 4TM VectorTM XF1TM and XF2TM are proprietary trademarks of Hemisphere GNSS Inc Other trademarks...

Page 4: ... 270 5070 PRECISION HGNSS COM WWW HGNSS COM Technical Support If you need to contact Hemisphere GNSS Technical Support Hemisphere GNSS Inc 8515 East Anderson Drive Scottsdale AZ 85255 USA Phone 480 348 6380 Fax 480 270 5070 SUPPORT HGNSS COM Documentation Feedback Hemisphere GNSS is committed to the quality and continuous improvement of our products and services We urge you to provide Hemisphere G...

Page 5: ...ferential Corrections A method of improving precision of a GNSS rover Two GNSS receivers placed in a nearby area will have similar error A base station is placed over a known point Firmware Firmware is the software loaded into the receiver that controls the functionality of the receiver and runs the GNSS engine GALILEO Galileo is a global navigation satellite system implemented by the European Uni...

Page 6: ... Guide provides information to help you quickly set up your V200n You can download this manual from the Hemisphere GNSS website at WWW HGNSS COM Contents Topic See Page Product Overview 8 Key Features 11 What s Included in Your Kit 12 Using PocketMax to Communicate with the V200n 13 Firmware Upgrades 16 ...

Page 7: ...or pole The stability and maintenance free design of the V200n provides simple integration into autopilots chart plotters and AIS systems There are no mechanical parts such as gimbals or a rotating motor so the V200n Compass is free from routine maintenance Heading is determined from GNSS and there is no need to wait for settling time gyrocompass calibration and speed corrections Vector performanc...

Page 8: ...5 of the time when using differential GPS corrections from Satellite Based Augmentation Systems SBAS or Atlas The V200n also features Hemisphere GNSS exclusive Tracer technology which provides consistent performance with correction data The V200n is less likely to be affected by differential signal outages due to signal blockages weak signals or interference when using Tracer If you are new to GNS...

Page 9: ... Positioning accuracy Competitive positioning accuracies down to 30 cm RMS in certain applications Positioning sustainability Cutting edge position quality maintenance in the absence of correction signals using Hemisphere s patented technology For more information For more information about Athena RTK see https www hemispheregnss com technology athena For more information about Atlas L band see ht...

Page 10: ...e positioning accuracy with Atlas corrections Standard 1 5 and optional 0 75 heading accuracy in small form factor Excellent in band and out of band interference rejection Integrated gyro and tilt sensors help deliver fast start up times and provide heading updates during temporary loss of satellites Provides heading positioning heave pitch and roll ...

Page 11: ...n of the V200n Table 1 1 V200n Parts list Part No Description 804 0163 21 Vector V200n GNSS Compass 940 3140 10 Vector V200n GNSS Compass kit 804 0163 11 OEM V200n GNSS Compass 940 3151 10 OEM V200n GNSS Compass kit Refer to 875 0394 10_A3 V200n GNSS Compass User Guide for units with part number 804 0163 10 or 804 0163 20 All of the following are accessory items available for purchase separately f...

Page 12: ... PocketMax to communicate with the V200n Use the following steps to set up the V200n communication with PocketMax Table 1 3 PocketMax Communication Step Action 1 Open PocketMax 2 Change Connection Type from Serial to CAN using the drop down arrow and set the baud rate to 250kbps Continued on next page ...

Page 13: ...sing PocketMax to communicate with the V200n continued Table 1 3 PocketMax Communication continued Step Action 3 Click Connect Quick Config configures your receiver only PocketMax configures the receiver and shows your position and heading status 4 Turn ON OFF messages in the CAN tab Continued on next page ...

Page 14: ... Using PocketMax to communicate with the V200n continued Table 1 3 PocketMax Communication continued Step Action 5 The Heading Setup screen features the following tabs Position displays your position Satellites displays satellites tracking HDG Status displays your heading HDG Setup adjust your TAU values ...

Page 15: ... Upgrade Suite Hemisphere Upgrade Suite Use Hemisphere Upgrade Suite by performing the following steps Table 1 4 Hemisphere Upgrade Suite Step Action 1 Connect the V200n to your computer with either a GridConnect PCAN USB adapter or a Kvaser CAN to USB adapter 2 Open Upgrade Suite and verify that the version is v 9 1 3 10 or later 3 Ensure the baud rate is set to 250kbps then click the USB 1 51h i...

Page 16: ...4 If you need to update the N2K Menu firmware click on the magnifying glass to find and select the N2K Menu firmware file then drag and drop the file into the Drag and drop here section The progress bar and text below will indicate the status of the upload 5 Verify the right N2K Menu firmware has been loaded in the last line of text above the Drag and drop here section ...

Page 17: ...rmware click on the magnifying glass to find and select the GNSS firmware file then drag and drop the file into the Drag and drop here section The progress bar and text below will indicate the status of the upload Once completed the Rx App1 will be listed below Rx App2 and Rx App2 will indicate that App2 still needs to be updated to the correct GNSS firmware version Drag and drop the FW file to th...

Page 18: ... Action 7 If the App1 update doesn t automatically start after the app swap again drag and drop the GNSS firmware file into the Drag and drop here section The progress bar and text below indicate the status of the upload 8 Once completed the Rx App1 is again listed above Rx App2 and shows the correct firmware version ...

Page 19: ...2 10 02 2020 Chapter 2 Mounting the V200n Overview Introduction This chapter provides instructions on how to mount your V200n receiver Contents Topic See Page Mounting the V200n 21 Surface mounting the V200n 30 Pole mounting the V200n 34 ...

Page 20: ...nd satellites are not masked by obstructions that may reduce system performance Position is based off the primary GNSS antenna located on located on the end opposite the recessed arrow on the underside of the enclosure Locate any transmitting antennas away from the V200n by at least a few meters to ensure tracking performance is not compromised Ensure cable length is adequate to route into the ves...

Page 21: ...z which is dependent on the GNSS antenna and receiver design VHF marine radios emit strong harmonics The 10th harmonic of VHF radio in some channels falls into the GPS working frequency band which may cause the SNR of GNSS to degrade significantly The radiated harmonic signal strength of different brands models varies Follow VHF radio manufacturers recommendations on how to mount their radios and ...

Page 22: ... vessel s axis determines if you need to enter a heading pitch or roll bias The primary antenna is used for positioning and the primary and secondary antennas working in conjunction output heading pitch and roll values The top of the V200n enclosure incorporates a sight design feature to help you align the enclosure on your vessel Alignment accuracy is approximately 2 Figure 2 3 Shorter design ele...

Page 23: ...s not installed in a horizontal plane Perpendicular orientation You can also install the antennas so they are oriented perpendicular to the centerline of the vessel s axis In this orientation Enter a heading bias of 90 if the primary antenna is on the starboard side of the vessel and 90 if the primary antenna is on the port side of the vessel Configure the receiver to specify the GNSS smart antenn...

Page 24: ...ProNav Norway a Company page 24 Rev 2 10 02 2020 Mounting the V200n Continued Mounting orientation example Figure 2 4 Recommended orientation and resulting signs of HPR values Continued on next page ...

Page 25: ...oNav Norway a Company page 25 Rev 2 10 02 2020 Mounting the V200n Continued Mounting orientation example continued Figure 2 5 Alternate orientation and resulting signs of HPR values Continued on next page ...

Page 26: ...orway a Company page 26 Rev 2 10 02 2020 Mounting the V200n Continued V200n dimensions Figure 2 6 illustrates the physical dimensions of the V200n GNSS Compass Figure 2 6 V200n dimensions Continued on next page ...

Page 27: ... considerations Before mounting the V200n consider the following regarding NMEA 2000 cable routing Do Do not Ensure cable reaches appropriate power source Run cables in areas of excessive heat Keep cable away from corrosive chemicals Run cables through a door or window jams Connect to a data storage device computer or other device that accepts GNSS data Crimp or excessively bend the cable Keep cab...

Page 28: ...n only Damage resulting from over tightening is not covered by the warranty Note V200n performance is subject to the unit being installed in a location and environment as specified in this User Guide and using a NMEA 2000 certified cable Mounting options The V200n offers four different mounting options Bottom up Surface Mounting for straight cable Top down Surface Mounting for straight cable Top d...

Page 29: ...ur vessel Surface mounting the V200n from the bottom up for straight cable Complete the following steps to Surface mount the V200n from the bottom up Table 2 2 Bottom up Surface mounting the V200n Step Action 1 Determine the desired location and proper orientation for the V200n See Mounting Orientation for information on determining the desired orientation 2 Navigate to the HGNSS website Home Prod...

Page 30: ...anty Surface mounting the V200n from the top down for straight cable and for right angle cable Complete the following steps to surface mount the V200n from the top down Table 2 3 Top down Surface mounting the V200n Step Action 1 Secure the Surface Mount Adapter 676 0043 10 to the V200n using the supplied mounting hardware Tighten to a torque of 8 10 lbs ft The maximum thread depth engagement must ...

Page 31: ... unit Figure 2 9 V200 Low Profile Surface Mount 676 0041 10 Figure 2 10 V200 Right Angle Surface Mount 676 0042 10 4 Place the surface mount in the desired location on the installation surface 5 If required use a center punch to mark the hole centers then drill the mounting holes with bit appropriate for the surface Note The diameter of the 676 0041 10 mounting holes is 6 4 mm 25 in Note The diame...

Page 32: ...ction 7 Thread the cable into through the surface mount then connect the cable to the unit 8 Carefully secure the mount to the V200n by placing it into the surface mount until the four latches snap into place first on one side and then the other Low Profile Right Angle Figure 2 13 Adapters with both sides secured Note To remove the V200n simply reverse the process by pushing in the clips on one si...

Page 33: ...tion 2 Thread the jam nut onto the 1 inch pole then thread the pole mount Figure 2 14 Pole mount with jam nut loosely threaded Do not tighten the pole mount to more than 4 lbs ft 3 Thread the cable either through the hollow pole or through the opening in the pole mount 4 Connect the cable to the V200n then secure the pole mount to the V200n using the supplied mounting hardware Tighten to a torque ...

Page 34: ...ientation of the unit then tighten the jam nut to the bottom of the pole mount to a torque of 8 10 lbs ft Figure 2 16 Pole mount with jam nut tightly threaded to secure V200n orientation Chapter 3 Connecting the V200n Overview Introduction This chapter provides instructions on how to connect your V200n receiver Contents Topic See Page Ports 37 Connecting the V200n to External Devices 38 ...

Page 35: ...ProNav Norway a Company page 35 Rev 2 10 02 2020 Ports Overview The V200n offers NMEA 2000 functionality NMEA 2000 port Refer to Appendix C for details regarding supported NMEA 2000 messages ...

Page 36: ... Figure 3 1 V200n pin out assignments Table 3 1 shows the cable pin out specifications Table 3 1 V200n Pin out Device Out Pin NMEA 2000 Mode Device Out 1 Shield 2 Power In 3 Power Ground 4 CAN Hi 5 CAN Lo Electrical isolation The V200n s power supply is isolated from the communication lines and the PC ABS plastic enclosure isolates the electronics mechanically from the vessel addressing the issue ...

Page 37: ...epending upon location and environment Position performance can be improved with RTK or DGNSS The following sections provide the steps to configure your V200n to use Atlas SBAS or RTK Note Differential source and RTK status impact only positioning and heave There is no impact to heading pitch or roll Contents Topic See Page GNSS Overview 40 Differential Operation 41 SBAS Tracking 41 Atlas L band 4...

Page 38: ...the V200n uses a high performance GNSS receiver and two antennas for GNSS signal processing One antenna is designated as the primary GNSS antenna and the other is the secondary GNSS antenna Positions computed by the V200n are referenced to the phase center of the primary GNSS antenna Heading data references the Vector formed from the primary GNSS antenna phase center to the secondary GNSS antenna ...

Page 39: ...on an SBAS satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of an SBAS signal in areas where signal blockage of a satellite is possible Atlas L band Atlas L band Atlas L band corrections are available worldwide With Atlas the positioning accuracy does not degrade as a function of distance to a base station as the data content is...

Page 40: ...NSS Technical Reference Manual describes the commands and methodology required to recalibrate query or change the sensor status Tilt aiding The V200n s internal sensor is factory calibrated and enabled by default and constrains the RTK heading solution beyond the volume associated with a fixed antenna separation The V200n knows the approximate inclination of the secondary antenna with respect to t...

Page 41: ...nate source of heading accurate to within 1º per minute for up to three minutes in times of GNSS loss for either antenna If the outage lasts longer than three minutes the sensor will have drifted too far and the V200n begins outputting null fields in the heading output messages There is no user control over the timeout period of the sensor The sensor initializes itself at power up and during initi...

Page 42: ...ing updates the post HTAU smoothed heading As a result if the HTAU value is increased while gyro aiding is enabled there will be little to no lag in heading output due to vessel maneuvers The Hemisphere GNSS Technical Reference Manual includes information on setting an appropriate HTAU value for the application ...

Page 43: ...and leave it at the default setting Note For heading and rate of turn there is no lag once the sensor is calibrated and enabled Formulas for determining the level of smoothing are located in the Hemisphere GNSS Technical Reference Manual If you are unsure how to set this value it is best to be conservative and leave the default setting Heading Use either MSGID 0x0028 NMEA 2000 or the JATT HTAU com...

Page 44: ...hing Course Over Ground COG Use either MSGID 0x002A NMEA 2000 or the JATT COGTAU command using the PocketMax Terminal window to adjust the level of responsiveness of the COG measurement The default value of this constant is 0 0 seconds of smoothing Note Increasing the time constant increases the level of COG smoothing COG is computed using only the primary GNSS antenna and its accuracy depends upo...

Page 45: ...ProNav Norway a Company page 45 Rev 2 10 02 2020 Appendix A Troubleshooting Overview Introduction Appendix A provides troubleshooting for common problems Contents Topic See Page Troubleshooting 48 ...

Page 46: ...tor at the end of the cable Check current restrictions imposed by power source minimum available should be 1 0 A No data from V200n Check receiver power status to ensure the receiver is powered Verify desired messages are activated using the JSHOW command in the PocketMax Terminal window Check integrity and connectivity of cable connections No GNSS lock Verify the V200n has a clear view of the sky...

Page 47: ...ou are in an appropriate SBAS region currently there is limited SBAS availability in the southern hemisphere No Atlas First check to see for an Atlas Basic subscription by sending JK SHOW in the PocketMax Terminal window to see which commands are listed Or connect to PocketMax go to the About tab and check the listed activations Ensure you are tracking the correct Atlas satellite or set the receiv...

Page 48: ...y GNSS antenna so the arrow on the underside of the V200n is directed to the bow side Sending the JATT SEARCH command in the PocketMax Terminal window forces the V200n to acquire a new heading solution unless gyro is enabled Enable GYROAID to provide heading for up to three minutes during GNSS signal loss Enable TILTAID to reduce heading search times Monitor the number of satellites and SNR values...

Page 49: ... 10 02 2020 Appendix B Technical Specifications Technical Specifications Introduction Appendix B provides the V200n technical specifications and the V200n certification information Contents Topic See Page V200n Technical Specifications 52 ...

Page 50: ...z optional Positioning accuracy Standard 1 2 m RMS Autonomous no SA 1 0 30 m RMS SBAS 2 Positioning accuracy Optional 0 30 m RMS Atlas 3 Heading accuracy Standard 1 5 RMS 1 Heading accuracy Optional 0 75 RMS 1 Heave accuracy GNSS 30 cm4 Pitch Roll accuracy 1 5 RMS Rate of turn 90 s maximum Cold start 60 s typical no almanac or RTC Warm start 20 s typical almanac and RTC Hot start 1 s typical alman...

Page 51: ...Item Specification Connector ports 5 pin Ports NMEA 2000 Data I O Protocol NMEA 2000 Table B 3 Power Item Specification Input voltage 6 to 36 VDC Power consumption SBAS 3 2 W multi GNSS typical continuous draw 12V Atlas 3 6 W multi GNSS typical continuous draw 12V Power isolation Isolated to enclosure Reverse polarity protection Yes Continued on next page ...

Page 52: ...reacquisition and reliable 1 per minute heading for periods up to 3 minutes when loss of GPS has occurred 2 Provides pitch and roll data and assist in fast start up and reacquisition of heading solution Table B 5 Environmental Item Specification Operating temperature 40 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing Enclosure ISO 60529 2013 for IP...

Page 53: ... environment number of satellites in view SBAS coverage and satellite geometry 3 Depends on multipath environment number of satellites in view and satellite geometry 4 Based on a 40 second time constant 5 This is the minimum safe distance measured when the product is placed in the vicinity of the steering magnetic compass The ISO 694 defines vicinity relative to the compass as within 5 m 16 4 ft s...

Page 54: ...he transmission of a specific PGN addressed or broadcast On Request On Request 060928 ISO Address Claim Used to identify to other ECUs the address claimed by an ECU On Request On Request 126996 Product Information NMEA 2000 database version supported manufacturer s product code NMEA 2000 certification level Load Equivalency number and other product specific information On Request On Request 126464...

Page 55: ...msec Freq Hz 129545 GNSS RAIM Output Used to provide the output from a GNSS receiver s Receiver Autonomous Integrity Monitoring RAIM process The Integrity field value is based on the parameters set in PGN 129546 GNSS RAIM Settings On Request On Request 129546 GNSS RAIM Settings Used to report the control parameters for a GNSS Receiver Autonomous Integrity Monitoring RAIM process On Request On Requ...

Page 56: ...UTC time and date and 2 To provide synchronism for measurement data 1000 1 126993 Heartbeat Confirms a device is still present on the network 60000 1 60 127250 Vessel Heading Heading sensor value with a flag for True or Magnetic If the sensor value is Magnetic the deviation field can be used to produce a Magnetic heading and the variation field can be used to correct the Magnetic heading to produc...

Page 57: ...ition of a vessel relative to both horizontal and vertical planes Altitude can be used for vessel stabilization vessel control and onboard platform stabilization 1000 1 127258 Magnetic Variation Message for transmitting variation The message contains a sequence number to synchronize other messages such as Heading or Course over Ground The quality of service and age of service are provided to deter...

Page 58: ...9025 Position Rapid Update Provides latitude and longitude referenced to WGS84 A single frame message opposed to other PGNs that include latitude and longitude and are defined as fast or multi packet this PGN lends itself to more frequent transmission without using excessive bandwidth 100 10 129026 COG SOG Rapid Update Single frame PGN that provides Course Over Ground COG and Speed Over Ground SOG...

Page 59: ...sion and very fast update rates for position data This PGN provides delta position changes down to 1 mm with a delta time period accurate to 5 msec 100 10 129028 Altitude Delta High Precision Rapid Update The Altitude Delta High Precision Rapid Update Parameter Group is intended for applications requiring high precision and fast update rates are needed for altitude and course over ground data This...

Page 60: ...obal Navigation Satellite System GNSS parameters including position information 1000 1 129033 Time Date Single transmission that provides UTC time UTC Date and Local Offset 1000 1 129539 GNSS DOPs Provides a single transmission containing GNSS status and dilution of precision components DOP that indicate the contribution of satellite geometry to the overall positioning error Three DOP parameters a...

Page 61: ...GN Description Default Update Rate msec Freq Hz 129540 GNSS Sats in View GNSS information on current satellites in view tagged by sequence ID Information includes PRN elevation azimuth SNR defines the number of satellites defines the satellite number and the information 1000 1 126993 Heartbeat Periodically announces presence on the CAN bus 60000 0 016667 Continued on next page ...

Page 62: ...ed PGN Description Default Update Rate msec Freq Hz 129033 Local Time Offset Indicates offset between a configured local time and UTC As of currently we do not support a local time so this always reports no offset On Request On Request 126998 Configuration Information Used for returning fields describing an installation Currently always returns blank On Request On Request ...

Page 63: ...0 Proprietary Messages For NMEA 2000 proprietary messages via CAN for tasks such as receiver configuration please refer to the Hemisphere GNSS website Resources Support Technical Documentation NMEA Proprietary Messages Reference Manual Continued on next page ...

Page 64: ...04 N2K CERT MSGID 0x0005 JVERSION MSGID 0x0006 N2K RESET MSGID 0x0007 N2K ADDRESS MSGID 0x0008 JDIFF MSGID 0x0009 JDIFF INCLUDE MSGID 0x000A JMODES MSGID 0x000B JSBASPRN MSGID 0x000C JBAUD PORTx MSGID 0x000D JMASK MSGID 0x000E JATT TILTAID MSGID 0x000F JATT TILTCAL MSGID 0x0010 JATT HBIAS MSGID 0x0011 JATT PBIAS MSGID 0x0012 JATT GYROAID MSGID 0x0013 JRESET MSGID 0x0014 JI serial number MSGID 0x00...

Page 65: ...SGID 0x0021 JT MSGID 0x0022 JATT MSEP MSGID 0x0023 JATT CSEP MSGID 0x0025 NMEA2000 Message Control MSGID 0x0026 JNP MSGID 0x0027 JSMOOTH MSGID 0x0028 JATT HTAU MSGID 0x0029 JATT HRTAU MSGID 0x002A JATT COGTAU MSGID 0x002C JATT NEGTILT MSGID 0x002E JATT LEVEL MSGID 0x002F JATT MOVEBAS MSGID 0x0031 GPHEV Heave MSGID 0x0032 JSAVE MSGID 0x0034 INTLT Raw Tilt Values MSGID 0x0037 Distance to Base MSGID ...

Page 66: ...ProNav Norway a Company page 66 Rev 2 10 02 2020 MSGID 0x003E JPOS MSGID 0x003F Serial Messages MSGID 0x0040 HPR StdDev MSGID 0x0045 JGEO Continued on next page ...

Page 67: ...ed NMEA 2000 proprietary message Multi Frame Fast Packet definition PGN 1EFXX Destination addressable MSGID 0x8001 N2K VERSION MSGID 0x8003 JPOSOFFSET MSGID 0x8004 JVERSION MSGID 0x8005 JAUTH MSGID 0x8008 Generic GNSS Serial Command MSGID 0x8009 RAW data transfer for differential MSGID 0x800A JI Extended info MSGID 0x800B N2K MODEL MSGID 0x800D RTKSTAT MSGID 0x800E ATTSTAT ...

Page 68: ...Main contact ProNav Norge AS JRC Nord Europa Hovlandsveien 52 4374 Egersund Rogaland Norway e mail service pronav no Tlf 51 46 43 00 Dokument revision Rev 2 20191025 Added GPS smoothing Rev 2 20191024 Changed sea trail Rev 1 Internal revision version ...

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