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INSTRUCTION MANUAL

20222360 / E

INSTRUCTION MANUAL

SIMRAD HS52

GPS compass and DGPS navigator

20222360E English

Summary of Contents for HS52

Page 1: ...INSTRUCTION MANUAL 20222360 E i INSTRUCTION MANUAL SIMRAD HS52 GPS compass and DGPS navigator 20222360E English ...

Page 2: ...entation of the PSXN 20 and RRE format included Description of system performance at alarms has been changed Rev C Additional description of the PSXN 20 format Rev D Changes in the text of the RRE format and updated description of the PSXN 20 format Rev E New part no on the 30 m cable Declaration of Conformity certificate included If you have any comments or constructive criticism to this manual p...

Page 3: ...o read this manual to get thorough understanding of the operation and system components In this manual the following notations are used Caution Used to make the user aware of procedures and operational practice which if not followed may result in degraded performance or damage to the equipment Note Used to draw the user s attention to special features or behavior of the equipment ...

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Page 5: ...ntee 5 2 3 Restrictions in Use 5 2 4 Performance Data 6 2 5 Physical Dimensions 7 Sensor Unit 7 Display Unit 7 Processing Unit 8 2 6 Power 8 Processing Unit 8 2 7 Environmental Specification 8 Sensor Unit 8 Display Unit 8 Processing Unit 9 2 8 Cable 9 Processing Unit to Sensor Unit Cable 9 2 9 Interface 9 3 INSTALLATION 11 3 1 General 11 3 2 Cable Connection 11 3 3 Grounding 11 3 4 Sensor Unit 12 ...

Page 6: ... 3 8 External Alarm 25 3 9 Software Setup Procedure 26 Display Adjustments 27 Differential Corrections 28 SBAS Setup 29 3 10Advanced Software Setup Procedure 30 Data Output 31 Ethernet 33 General 34 Expert Setup 36 4 OPERATING INSTRUCTIONS 41 4 1 Overview 41 4 2 Turning the System ON OFF 42 4 3 Performance Monitoring 42 Navigation HDT Display 45 Navigation POS Display 46 Info Displays 46 4 4 Alarm...

Page 7: ... Units 57 Repair of the Processing Unit 57 5 4 Troubleshooting 58 No Response 58 No Valid Data 58 Invalid Position 59 Reduced Position 60 No Differential Corrections 60 Invalid Heading 61 Reduced Heading Indication 61 Simulated Data 62 6 FIGURES AND DRAWINGS 63 6 1 Sensor Unit Dimensions 64 6 2 Processing Unit Dimensions 65 6 3 Display Unit Dimensions 66 7 PARTS LIST 67 7 1 Standard Delivery 67 7 ...

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Page 9: ...ed log and Rate Of Turn indicator The HS52 comprises the following units The Sensor unit contains two GPS sensors electronic board with I O and an inertial rate element The Sensor unit is to be mounted in the vessel s mast or flat on a roof or deck The Display unit contains an LCD for navigation information main board with CPU flash power and I O and buttons for setup and operation of the HS52 sys...

Page 10: ... configurable output serial lines and Ethernet connections making it easy to distribute HS52 data to multiple users on board the vessel The HS52 requires no scheduled maintenance or re calibration The system offers flexible configuration of the output variables and interface setup depending on the vessel and application It is easy to operate install and align The HS52 system has the following feat...

Page 11: ...l motion Yaw A rotation about the vertical axis and is positive when turning eastward when the vehicle cruises in north direction Normally yaw means the dynamic yaw motion Abbreviations and Acronyms CEP Circular Error Probability COG Course Over Ground DGPS Differential GPS ESA European Space Agency FAA Federal Aviation Administration USA DU HS52 Display Unit EPE Estimated Position Error GPS Globa...

Page 12: ...erference RF Radio Frequency RMS Root Mean Square ROT Rate of Turn RRE Range Residual Error a specific Ashtech format RTCM Radio Technical Commission of Maritime Services SBAS Satellite Based Augmentation System SOG Speed over Ground SS Signal Strength SSB Single Side Band UTC Universal Time Co ordinate This is the official time in the world and has replaced GMT Greenwich Mean Time as the official...

Page 13: ...ion for reuse and recycling of used electrical and electronic equipment For more detailed information about disposal of your old appliance please contact your local authorities or waste disposal service 2 2 Restrictions in Guarantee The liability of the manufacturer is limited to repair of the HS52 only and excludes consequential damages such as customer s loss of profit or damage to other systems...

Page 14: ... almanac within 5 minutes Re acquisition time after 24 hours GPS signal interrupt with valid almanac within 2 minutes Re acquisition time when subjected to power interrupt of 60 s within 2 minutes GPS position update 2 Hz 50 Hz with extrapolation Sensitive acquisition2 130 dBm Sensitivity tracking3 133 dBm The performance figures are valid with a minimum of 4 visible satellites HDOP less than 4 PD...

Page 15: ...ontally and vertically 2 5 Physical Dimensions Sensor Unit Width 850 mm 33 5 in Height 205 mm 8 1 in Depth 262 mm 10 3 in Weight 8 kg 17 6 lbs Color White Dimensional drawing Page 64 Display Unit Width 220 mm 8 7 in Height 110 mm 4 3 in Depth 39 mm 1 5 in Weight 0 5 kg 1 1 lbs Color Black Dimensional drawing Page 66 ...

Page 16: ... housing Polyethylene Enclosure protection IP 66 Operating temperature range 25 to 55ºC 13 to 131 F Operating humidity max 100 Storage temperature range 30 to 70ºC 22 to 158 F Storage humidity max 100 Safe distance to standard compass 0 3 m 1 0 ft Display Unit IEC 60945 Category Protected Enclosure material Plastic Enclosure protection IP 56 from front IP 43 from back Operating temperature range 1...

Page 17: ...uration Display unit connected to the Processing unit Data outputs Three RS 232 serial lines Three RS 422 serial lines Ethernet UDP IP Data inputs One RS 232 and one RS 422 serial line DGPS corrections RTCM 104 version 2 2 and SAPOS EPS Baud rate Max 38 4 kBaud HDT ROT GGA and GLL data update rates Up to 20 Hz HDT ROT GGA and GLL data delay Less than 50 ms ZDA and VTG data update rate Max 2 Hz VTG...

Page 18: ...See page 69 for description of these formats Radar output on the AD 10 format Simrad and Furuno radar compatible and a 1PPS signal 1 Hz An NMEA ZDA message that is output at 1 Hz interval and according to IEC 61162 1 See page 24 for description of this format STX104 A format used by service personnel for troubleshooting the system ...

Page 19: ...can be mounted on the bridge or in the instrument room No units should be exposed to heavy vibration transformers or similar 3 2 Cable Connection Use only shielded cables for the installation This includes power input and signal cables The cables should be of 0 5 mm2 AWG20 twisted pairs The cable to the Display unit and other cables NMEA input output Ethernet should not be run in parallel with oth...

Page 20: ...common satellites at the same time The unit should be protected from direct illumination of radar beams and other transmitting antennas such as Inmarsat antennas The Sensor unit has to be mounted horizontally in the mast or directly on deck with 5 maximum allowed deviation angle from the horizontal plane If mounted in the mast the distance from the unit to the nearest deck should be as large as po...

Page 21: ... plane and the alongship axis If the mounting is not within this tolerance the heading accuracy will be degraded Connectors with Cable duct Cable ties self bonding tape Connect the cable from the Processing unit to the cable from the Sensor unit Caution The connector junction must be sealed with self bonding tape for waterproofing After coiling make bonding by hard pressure Use the required number...

Page 22: ...smit 1 2 4 3 FRONT VIEW 1 1 Power ground Waterproofing of Connectors The Sensor unit connector junction has to be sealed with self bonding tape and PVC Vinyl tape for waterproofing Proceed as follows 1 Coil the self bounding tape from one cable end to the other as shown in the figure below Use at least two layers with tape After coiling make a bonding by pressure of fingers 2 Coil at least two lay...

Page 23: ...A drilling template part no 22084883 is supplied with the HS52 documentation Use this template when making panel cut out and drilling holes Gasket 1 Remove the front panel corners 2 Drill the mounting holes and make panel cut out according to supplied template 3 Use the supplied gasket part no 22084693 between the panel and the unit 4 Fasten the Display unit to the panel with the supplied 19 mm sc...

Page 24: ...isplay unit is bracket mounted it is not weatherproof from the back due to a breathing hole in the back cabinet When bracket mounted the exposed parts of the plugs should be protected against salt corrosion 1 Locate the cradle on the mounting site and mark the 4 holes for the screws on the mounting surface 2 Drill the 4 holes and screw the cradle to the mounting surface 3 Remove the front panel co...

Page 25: ...THE CABLE COLORS Note Apply a thin layer of pure Vaseline on the connector threads and make sure the connectors are properly secured to the receptacle by the coupling ring The connectors are weather proof according to IP56 when properly installed The plug must be fitted with the plastic cap to keep the connector free of dirt and moisture A separate screw cap for the Display unit comes as part of t...

Page 26: ... or air conditioning is provided in order to keep the ambient operating temperature below 55ºC 130ºF The best location is typically in the instrument room or on the bridge Dimensions for the Processing unit are shown on page 65 Use the supplied mounting screws for fastening the Processing unit as shown on the figure below Cable Connections Proceed as follows to connect the cables to the Processing...

Page 27: ...n the drawing below and tighten well to make sure the screen has good contact with the chassis 3 Provide sufficient wire length about 3 cm 1 2 so that the plug in terminals can be easily connected disconnected 4 Pull out each terminal before connecting the wires Remove all stands before putting on the terminal cover The pinout for each terminal is as follows ...

Page 28: ...t Used J60 Ethernet RJ45 J600 Not Used P80 Not Used 4 232 OUT P202 Data 3 422 OUT Out 1 2 422 OUT 1 GND 4 232 OUT P203 Data 3 422 OUT Out 1 2 422 OUT 1 GND 4 232 OUT P204 Data 3 422 OUT Out 2 2 422 OUT 1 GND P205 Not Used P206 Not Used 3 422 IN P207 Diff 2 422 IN 232 IN Input 1 GND 3 AD10_C Clock P208 Radar 2 AD10_D Data 1 AD10_GND Common C D 3 ALARM_NOT P401 ALARM 2 COMMON 1 ALARM 2 PWR_ P400 Pow...

Page 29: ...ut line has to be configured as described in Data Output on page 31 Connection to Simrad Radar is done from P208 AP9MK3 Autopilot 1 2 HS52 PROCESSING UNIT AP9 MK3 P204 J3 CONTROL UNIT or P203 P202 232 OUT 422 OUT GND 422 OUT RGC Signal Interface Unit PROCESSING UNIT HS52 SIGN INTERFACE RGC UNIT NMEA IN NMEA IN 1 2 NMEA IN P204 or P203 P202 232 OUT 422 OUT 422 OUT GND TB3 Note DIP Switch SW1 2 on t...

Page 30: ...IT HS52 JUNCTION J50 J300X UNIT RX2 RX2 422 OUT 422 OUT 232 OUT GND or P204 P202 P203 TB8 NI300X PROCESSING UNIT HS52 NI300 UNIT JUNCTION 422 OUT 422 OUT 232 OUT GND or P204 P202 P203 A RX B RX IS15 Instruments PROCESSING UNIT HS52 2 1 J4 IS15 422 OUT 422 OUT 232 OUT GND or P204 P202 P203 NMEA ...

Page 31: ... 10 BIT 3 Change Head from TRUE to MAGNETIC 3 7 1PPS Signal Connection A 1 pulse per second 1PPS signal synchronized with GPS time is available from the terminal blocks P208 named Radar on the Processing unit This 1PPS signal originates from the GPS receiver within the Sensor unit The 1PPS signal is buffered and fed to the P208 connector The high level is at 5V unloaded with 180 Ohm load source im...

Page 32: ...e electronic devices Version 2 3 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 33: ...since the acoustic alarm in the Display unit is not within the required minimum level of 75 dB Therefore the Processing unit has built in alarm functionality An alarm will open the alarm relay which can be used to trigger an external alarm The diagram below shows how an external alarm can be connected to the Processing unit terminal block P401 Processing Unit 1 P401 ALALM BUZZER NC NO COMMON ALARM...

Page 34: ...er 3 10 Failure to correctly set the values in the installation settings may prohibit the product from functioning properly Before attempting to turn on the Simrad HS52 product and perform an installation setup the hardware and electrical installation must be completed in accordance with the installation instructions The SETUP menu is entered on the Display unit by pressing and holding the SETUP b...

Page 35: ...ow down key until the cursor is at the ROT Max position 4 Turn the knob to left or right until wanted value appear on the screen 5 Press the SETUP key to get back to the main menu 6 Press the arrow down key until the cursor is at the Activate position and then turn the knob clockwise Then the new setup is activated Display Adjustments In the Display adjustments submenu the backlighting and contras...

Page 36: ...ections submenu is as follows External DGPS The following selections are available Baudrate The rate at which bits are transmitted 4800 is standard RTCM rate Format The input format on the DGPS corections can be selected between the following o RTCM When this format is selected the correct RTCM Options must be chosen If not the differential corrections will not be used in the position solution o C...

Page 37: ...nfiguration settings are available SBAS mode The preferred option is to manually select which two or one satellites to track This forces HS52 to use only the satellites listed However automatic search for the Geo stationary satellites is available by selecting AUTO to let the HS52 automatically search for the Geo stationary satellites but this option is not recommended due to less control of the s...

Page 38: ...corrections see page 52 3 10 Advanced Software Setup Procedure The Simrad HS52 includes a number of advanced installation settings that may need to be changed to optimize the installation onboard the vessel The advanced setup menu is entered by first pressing the SETUP button twice two slight presses and then holding the button for at least 5 seconds The following additional setup submenus will th...

Page 39: ...nd two 422 serial lines are available The signal cables can be connected to both terminal block P202 and P203 On Data output 2 one RS 232 and one 422 serial lines are available The signal cables are to be connected to terminal block P204 Note All six serial lines may be used simultaneously The setup of baud rate interval and output formats for each port is performed in the Data output 1 and Data o...

Page 40: ...er Equipment and Transmitting Heading Device as long as NMEA is selected as output format and none of the default selected NMEA formats DTM GGA ZDA HDT are removed NMEA Format NMEA sentences to be sent to the output line Select the wanted NMEA sentence by turning the rotary knob Be aware that the RRE format is a specific message and does not comply with NMEA standards See page 69 for description o...

Page 41: ... 192 168 001 020 IP Net mast Default setting 255 255 255 000 IP Port The IP port number default is 5000 Format Format on Ethernet line The following selections are available o NMEA o ZDA 1 Hz See page 24 for discription of this format o STX104 A format used by service personnel for troubleshooting the system o None WARNING If None is selected as output format no data will be sent to Ethernet line ...

Page 42: ...lay window no 1 see Navigation POS Display on page 46 The HGT value needs to be observed and averaged over some minutes Be aware that the GPS input height value is the WGS84 antenna height height of the Sensor unit The WGS84 antenna height might for some locations differ from the mean sea level height with as much as 100m Note Height aiding is active only with input of differential GPS Accuracy lv...

Page 43: ... range 1 to 99 seconds in steps of one second With a high filter period more smoothing of the position measurements will be achieved and the response to position changes gets slow In general we don t recommend the use of filter constants above 10s for a moving vessel Heading Filtering The Simrad HS52 outputs raw heading data with the default filter setting OFF When smoothing of the heading measure...

Page 44: ...xis misalignment between the Sensor unit and the vessel alongship axis Note It is important that the Sensor unit is mounted accurately in the alongship direction so the Head offset value does not exceed 5 If the mounting orientation is not within these tolerances the heading accuracy will be degraded Instead of exceeding a Head offset value of 5 the Sensor unit orientation should be adjusted mecha...

Page 45: ...her positive or negative Example If the heading measured by the reference system is 32 1º and the Simrad HS52 heading 28 5 degrees during the calibration period 3 6 32 1 28 5 should be entered in the Expert setup submenu as the Head offset value Alarm Sound Used for turning the alarm sound on and off see Alarms on page 49 for details The sound if enabled will be present as long as the alarm condit...

Page 46: ...y approved as IMO THD if this alarm setting is set to ON R GPS Cold Restart Used for restart of the GPS receivers when that is required This is done by selecting ON on this selection then press the SETUP key to return to the main menu and leaving the Setup menu by selection Activate to save the configuration Then the GPS receivers will be restarted automatically without futher actions However its ...

Page 47: ...INSTALLATION 20222360 E 39 Log Data Server Address User Name and Password Used for service purposes ...

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Page 49: ... Adjustable settings are provided in the SETUP mode The settings allow adjustment of mounting orientation selection of differential correction setup of output serial line formats Ethernet and the display Refer Software Setup Procedure page 21 The Display unit consists of the main elements as listed below FUNCTION REF PAGE Power on off 42 HDT Displays Navigation HDT display with compass rose or det...

Page 50: ...uracy is obtained Since there normally is no reason for turning the unit off it should be left running continuously The HS52 will be shut down in a controlled way when the POWER button is pressed for 1 2 seconds Then the message Shutdown in process will appear on the screen If the POWER button is pressed and held for 5 seconds or more the system is shut down immediately Typically used if the syste...

Page 51: ...is built in in the Sensor unit delivered on request only the limit is according to IMO requirements set to 10 seconds The link status indicator is a two level status bar showing whether a valid RTCM message is received one black bar graph or not one white bar graph DIF The DGPS indicator is a two level status bare showing whether differential corrections are input and used in the position solution...

Page 52: ...tion of an arbitrary undetected satellite failure Safe indicates that the system accuracy is better than the selected accuracy level and that a single satellite failure can not make the actual horizontal position error exceed the selected accuracy level 95 confidence level Caution indicates that the system accuracy is better than the selected position accuracy level but a single satellite failure ...

Page 53: ... of heading data will terminate In the first 300 seconds after loss of GPS heading the heading output is determined from the inertial element The data quality status information indicated on the Display unit is also included in some of the NMEA messages that can be output on the serial lines Navigation HDT Display HDT When pressing the NAV1 HDT button the HS52 will toggle between two different dis...

Page 54: ...e third display appears when pressing the NAV1 POS button three times This display shows satellites in sight by the Sensor unit and which satellites the Simrad HS52 is tracking The satellites are presented according to satellite geometry The bars on the left side of this display indicate the signal to noise level for each satellite Info Displays When pressing the INFO button the system will page t...

Page 55: ...own in front For example Id E124 indicates that EGNOS satellite 124 is used as DGPS source UTC time World time referred to UTC In this display a number of additional information on the heading solution is presented This information is mainly used for troubleshooting the system An explanation of the information shown is as follows Gps hdt The heading determined from GPS alone Deviation The differen...

Page 56: ...rouble shooting the system The other information in this display is only of interest to service personnel In the SBAS page information of which SBAS system used by the Simrad HS52 is presented together with the selected satellite by its PRN number the message rate of this satellite and status on SBAS warnings The DGPS page includes information of the external connected IALA beacon receiver WER num...

Page 57: ...ading and no data alarm It is possible to enable the heading alarm and the position alarm individually and to set all alarms enabled or all alarms disabled The no data lack of data alarm will be enabled as long as any alarm is enabled The alarm setup is available from the Expert setup menu From the same menu it is also possible to enable or disable use of the alarm sound on and off The sound if en...

Page 58: ...put from HS52 and shown on the display as long as the position alarm situation is present Note No alarm will be activated if the system is setup to not respond to alarm situations Refer to Expert Setup on page 36 Position Alarm Display If the default setting is used for the position alarm an alarm will be activated if the system has been unable to determine position the last two seconds See No Val...

Page 59: ...alarm text shown in the figure below will be displayed See Invalid Heading on page 61 for troubleshooting Position and Heading Alarm Display If both heading and position data is invalid the display will show System Restart System restart is activated at power up of the system and when the watchdog has been activated ...

Page 60: ... operation Adjust Backlight on Display The rotary knob is used for adjusting the display brightness Turn the rotary knob clockwise to increase the brightness and anti clockwise to reduce it For more information on how to adjust the display settings see chapter on Display Adjustments page 27 on how to proceed SBAS Corrections The display to the left illustrates a typical configuration of SBAS satel...

Page 61: ...ral page 34 The height aiding improves the solution by using the knowledge that a vessel at sea has only small short term variations in height caused by heave The long term variations caused by tide are taken care of in the system The height value used as input to the GPS solution is a low pass filtered value of the measured height A start value for the low pass filter should be specified for use ...

Page 62: ...Simrad HS52 GPS compass and DGPS navigator 54 20222360 E Height aiding is active only with input of differential GPS For more information on how to enable height aiding see chapter General on page 34 ...

Page 63: ...field by connecting an external PC to the Processing unit A software upgrade has to be performed by Simrad service people or representatives 5 2 Periodic Maintenance The user should execute all necessary maintenance This includes normal cleaning of all units and inspection of cables and connectors at intervals Components which malfunction should either be replaced or sent back to Simrad for servic...

Page 64: ...require little maintenance If the unit requires any form of cleaning use fresh water and a mild soap solution not a detergent It is important to avoid using chemical cleaners and hydrocarbons such as diesel petrol etc Make sure that all open connectors on the Display unit are fitted with a protection cap It is advisable at the start of each season to check all connections to the unit and cover wit...

Page 65: ...for service in the field and a damaged unit has to be shipped back to Simrad for repair Caution Opening the Sensor unit housing may result in permanent damage to the unit Install the new unit according to procedures described in the INSTALLATION section page 11 onwards Repair of the Processing Unit The Processing unit is not designed for service in the field All repairs and modifications of the un...

Page 66: ... as follows Check the power connection to the Processing unit and check that the Processing unit is supplied with the correct voltage See power specifications on page 8 Check that the fuse on the Processing unit is not blown This fuse is located behind the power terminal block P400 and is marked F400 A spare fuse is available beside it and its location is marked F401 Press the POWER button on the ...

Page 67: ...he mounting location and consider relocation according to the guidance described in Location of the Unit on page 12 If there are still no valid data contact your nearest Simrad dealer for assistance Invalid Position The reason for invalid position can be one of the following The position status will be invalid when there are no data from the Sensor unit or there are no data from the GPS receivers ...

Page 68: ...osition accuracy exceeds the selected accuracy level See chapter General for selection of the accuracy level No Differential Corrections The possible reason for a white box for differential correction indication DIF could be one of the following No differential corrections are input through terminal port P205 or P206 on the Processing unit If differential corrections are input through one of these...

Page 69: ...te Skyplot see Navigation POS Display on page 46 and that the PDOP value is less than 6 Check also the number of common satellites seen by the two GPS antennas by pressing the INFO button and looking at the value for Common sat in the advanced heading information display se Info Displays on page 46 The number of common satellites has to be three or higher to keep a heading To find a new heading af...

Page 70: ...o GPS antennas by pressing the INFO button and looking at the value for Common sat in the advanced heading information display see Info Displays on page 46 The number of common satellites has to be three or higher to keep a heading To find a new heading after the loss of GPS heading at least four common satellites with a reasonable geometry have to be present If one of the criteria s above is not ...

Page 71: ... showing the mechanical dimensions of the different HS52 parts To scale drawings are available upon request The following drawings are enclosed Name Drw no Rev Sensor Unit dimensions 3822 MA 015 1 The following figures are enclosed Name Page Processing Unit dimensions 65 Display Unit dimensions 66 ...

Page 72: ...ate Sign Design by Usage Rev no Scale 1 KL KONGSBERG SEATEX Ship Heading and Navigation Sensor Dimensions Sensor Unit 03 08 28 Assey 02 05 08 3822 MA 015 proj3munin 3822 technical notes mechanicaldesign sensorunit ma015_00 1 5 A3 Material in Housing Polyethylene Weight 8 Kg Material in Nut s and Screw s Stainless steel DIN 316 BOW 1 BOW 27 27 262 25 140 77 5 225 205 850 M10 4x ...

Page 73: ...FIGURES AND DRAWINGS 20222360 E 65 6 2 Processing Unit Dimensions ...

Page 74: ...Simrad HS52 GPS compass and DGPS navigator 66 20222360 E 6 3 Display Unit Dimensions Note Mounting bracket is optional ...

Page 75: ...ews 20214151 1 HS52 Display unit including 15 meter cable flush mounting kit and protecting cover 20214334 1 HS52 30 meter cable 20214169 1 HS52 Standard English documentation including cut out templates and Quick Reference guide 7 2 Optional Equipment The HS52 can be delivered with following optional equipment Part no Description 22084941 Mounting bracket for Display unit 7 3 Documentation The HS...

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Page 77: ...ty 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 reduced performance 2 invalid data nsat Number of satellites in use 00 99 id Satellite ID number PRN 01 32 res GPS range residual in metr...

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Page 79: ...APPENDIX B DECLARATION OF CONFORMITY 20222360 E 71 9 APPENDIX B DECLARATION OF CONFORMITY ...

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