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Seapath 330 Installation Manual

1. 0 5 kg COMUN A UR White The GNSS antenna is a right hand circular polarised L band antenna with an integral low noise amplifier The internal thread is s x 11 standard marine mount 2 2 9 Cabinet Heieht AG 2 M T 390 mm Depth m 600 mm Mid EE 553 mm Depth with keyboard extended li etat tue 770 mm Recommended free space from wall 455 dee tte eee ia 20 mm 2 3 Power 2 3 1 Processing Unit TOLIMA ERR 100 240 V AC 50 60 Hz M300 62 rev 2 7 Seapath 320 ee e EE Max 75 W Baltasar ici None connection to UPS recommended 2 3 2 HMI Unit Vase bue Mm M 100 240 V AC 50 60 Hz Power consumption sun Max 40 W Batteries al None connection to UPS recommended 2 3 3 Monitor 17 inch LCD A AN 100 to 240 V AC 50 60 Hz Power CODSUIUOR tii 23 Watts typical 2 3 4 MRU Voltage A NEIN 24 V DC from Processing Unit VOlase see E 5 V DC from Processing Unit 2 4 Environmental 2 4 1 Processing Unit Enclosure material een a Aluminium Operating temperature range nenne ee 15 C to 455 C Recommended operating temperature sess Room temperature 20 C Storage temperat re eec RI ea ed Uere de aa ERREUR n ln ine 20 C to 70 C Operating a cos aed A Max 95 non condensing Storage UTs EE Less than 55 Ingress protection HON o ayy IP 42 E a Et te ets IP 21 With MRU
2. 1 2 i gy ES l Nle y pl E E al al a e 3 ac all 1 r L gt KE 3 i E va WER u E I gt LD T j H Gy 1 l gt 1 B G 1 3 2 E i E pm cm E 5 Ke E D E 5 Pu ES i M300 62 rev 2 89 Seapath 320 5 5 GNSS antenna mechanical drawings MECHANICAL DRAWINGS All dimensions are in millimeters mm where 1 inch 25 4 mm TOP VIEW Tape measure BOTTOM VIEW Le SC Ze SN d ent 100 Excerpt from GPS 702 GG GPS 701 GG and GPS702 GG N User Guide OM 20000095 rev 1B August 7 2009 NovAtel Inc 90 M300 62 rev 2 Installation Manual imensions 6 U cabinet d 5 6 ubisap jo japow Al mn quayed jo jurub jo queno ayy is Pages suu y seBewep jo quoted OU 1ueuunoog su e uoneaunwwoo a se ueuncop wus jo voirzyin PUE voinqip uononpoida PUL x L esiueyoa A uod OLO ZZ oons MEDIA seed O E ep DNIASINON Sy xejeas Bieqsbuoy g WWSh py NL Z suonoeurp UE ul ww O 1 8 0 dn sBununouu yuasa UO JBUIGED jo JUBLWISAOW L eo unrunun y pezipouy sojejd SununojA doy uo japo any MIA 301S 4 apno re Jed 0 anp aoeds j jo eouejsip UNA ION sdununow juairsos MIIA WOLLOS M3IA LNOMSJ 91 M300 62 rev 2 Seapath 320 92 M300 62 rev 2 Installation Manual APP
3. sme E E N Figure 9 Top view of Antenna Bracket 3 The screws for mounting the GNSS antennas to the Bracket must be secured with washers 4 Connect the antenna cables to both GNSS antennas The connection between the antenna 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 4 Screws M16 Antenna Bracket 4 Washers ED T 4 Thermoplastic Bushings PET A N SA er eae ES AE TTT EE EE p Thermoplastic insulationplate PET Antenna Holder FA ei 4 Washers 1 1 T em 4 Nuts MIE EJ The Mast Coll cmm I Figure 10 Different components for mounting of Antenna Bracket 6 Ensure that the delivered insulation plate is used between the Antenna Bracket and the holder and that the four bushings are placed in the mounting holes before the screws are entered The nuts should be secured with washers or by utilising self locking nuts M300 62 rev 2 35 Seapath 320 Figure 11 Side view of GNSS antenna installation 3 4 1 2 MRU Processing and HMI Unit The mechanical installation consists of e Mountin
4. twee MRU E CS1 TROU Heavy duty screened 14 x 2 x 0 25 mm Eength ES 3m lb cing M PIC 13 5 mm E e cub E 0 27 kg m Flame retarda oues Uere AUS a en ii IEC 332 1 Insulalion RI euet E unt ale rua EU Eu ED ES ETFE SEIEN MT Ec Cu braid 2 11 2 Processing Unit to MRU Junction Box cable O RI a hM n dci MEE LAMAC 4 x 2x 0 5 mm Maximum lensih TR 100m A RE 10 mm 12 M300 62 rev 2 Installation Manual Blame retardation maana ads TEC 332 3 A 2 11 3 GNSS antenna cables Coax EE Y2 Superflex 50 BHF R LUTT Te a a e A EU 14 dB 100 m at 1 6 GHz Maximum length each cable ninio Meere 100m Diameter ash ea nenne 13 2 mm Minim m bend faclus es rn il 32 mm Flame retardation eee CATV UL1581 IEC 332 3 IEEE383 Coax connectors oic Ie a oe Sd USE cas Huber Suhner 11 N 50 9 9 If the antenna cables are not delivered 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 are available Optionally an interconnection cable for transfer of connector type from TNC on the antenna to N type on the antenna cable can be delivered M300 62 rev
5. 33 coax cable specification 117 coax connector installation 109 configuration backup sese 79 copy configuration sees ee eee ee eee 79 D data pool aaa 79 E ENGEN HIERHER RI E 41 Ethernet CONNECTION sese 20 F free and open source software 123 G GNSS antenna installation 115 I installation procedures seen 36 J junction box mounting eene 38 M300 62 rev 2 mechanical installation 36 MRU geometry sese zi 61 MRU Mounting Wizard 62 P pin layout iecit vete lea 15 pin layout MRU unser 19 POSO gd 17 R relay alarmisignal 5 aes eee 18 RG 214 specifications essen 119 S SBAS tracking oett REPRE S 61 Seatex Rescure and Restore Disk 80 serial lies iii ina 16 KIT tii po dies 80 system modes scere te e er e e ea EEN 51 V vessel shape from le 55 135 Seapath 320 136 M300 62 rev 2
6. 2 5 External interfaces 2 5 1 Processing Unit Serial POS rs 6 non dedicated isolated ports RS 232 or RS 422 REISEN Isolated Com1 and Com2 9 pin DSub RS 232 or RS 422 Baud rate x ooo RON Up to 115 200 bytes sec LAN beer estou c the ductae seduta bte ae e 4 Ethernet ports USB I 3 ports 1 in front and 2 in rear Data outputrate ope rece a a a Up to 200 Hz Eet e BMC ms Bal a CCl ay uico bene en ae All data in real time 0 ms plus transmission delay EPPS sigtial ACTUA ii dis ao 220 nsec Analog OUtpUts sees eee eee 3 user configurable channels 10 Volts 2 5 2 HMI Unit EC EE 3 ports 1 in front and 2 in rear BAN EE E 1 Ethernet port in rear 2 5 3 MRU Unit Setial poris Reed ee EEE e 1 RS 232 or RS 422 Digital output variables notan andes Max 16 Data Output rates Ra Max 100 Hz bir me lt 1 ms 2 6 Product safety 2 6 1 Processing Unit Electrical Sarety 2 o uci poculi ciens IEC 60950 1 EN60950 1 Electromagnetic compatibility immunity radiation IEC 60945 EN60945 NIDO Em IEC 60945 EN60945 10 M300 62 rev 2 Installation Manual 2 7 Radio frequencies 2 7 1 GNSS antenna a Eee 1588 5 23 0 MHz ains 1236 0 18 3 MHz IN X Bam OC EE 27 dB 2 8 Data outputs 2 8 1 Processing Unit Message e a oae isis ul di ANE NMEA 0183 v 3 0 of type e ZDA GGA GLL VTG HDT GST GSA and GRS e NMEA proprietary PSXN
7. 90 degrees second 90 degrees second 2 90 degrees second Bitfields 2 Checksum Umiged 2 Checksum is calculated as a 16 bit Block Cyclic Redundancy Check of all bytes between but not including the Header and Checksum fields The CRC algorithm is described in a separate section Time is divided in an 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 from 0 to 15 where 0 is the least significant bit A 1 value true means o Reducedhorizontal position and velocity performance 1 Invalid horizontal position and velocity data 2 Reducedheave and vertical velocity performance 3 Invalidheaveand vertical velocity data 4 _ ee rolt and pitch performance EN Invalid roll and pitch data Ge Reduced heading performance Invalid heading data The remaining bits in the status word are reserved for future expansion M300 62 rev 2 101 Seapath 320 A S Lehmkuhl gyro repeater format 12 This Lehmkuhl gyro repeater format is used when outputting heading from Seapath to Lehmkuhl gyro repeaters The messag is similar to the HDT message output in the sta
8. KONGSBERG Seapath 320 Installation Manual Seapath 320 About this document First issue of this manual Description of serial port extender and minor changes in the text Copyright O 2010 Kongsberg 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 with the furnishing performance or use of this document Kongsberg Seatex AS Telephone 47 73 54 55 00 Telefax 47 73 51 50 20 Pirsenteret Duty phone 47 735021 11 N 7462 Trondheim www km kongsberg com seatex Norway E mail km support seatex kongsberg com KONGSBERG II M300 62 rev 2 Installation Manual 1 1 1 2 Sech 2 2 2 3 2 4 2 5 Table of contents PRODUCT DESCRIPTION enne nnnm nnn T P rpose and apple 1 System Components ee o N d 1 TECHNICAL SPECIFICATIONS sss sss nean nnes sees D PEI A is Tanda T 5 Physical A T 5 2 2 T Processing Unit ue det ee lina 5 2 222 HM Upi pedet ro ele Oed 5 2 2 3 Monitor 7 inch LCD iiam pee cb de edd 6 2 2 4 MRU UN 2 43 iet den be to cvi uie 6 2 2 5 MRU Wall Mounting Bracket AAA 6 2 2 6 MRU Junction Box ar tae nn ree olet et n
9. _ 0 G9c gt IS31VIN WIG 3dAL NAWN SOd 1NY U UC lla 0 T Dumwpup uo paljinads jou jJ 4 89 Z OSI 92upJesJo 5309 Auen ZIOMYSSIYOAIOA 106 Try N0 09 OGO W NYW Ou 0g 4enbooj pijoson usiuij V 910 SH buwbAp 110799 WWIEZ 99uelajua Na jo 29005 29110 wwo sajoy bugunow fw jo eoods uN i i u 2 z 3 5 SH Vis AAA S94 S Ini ues S sl ee eee H 0611 u I I l S gt S e Bo S g wD l a E o i Lj e gt l i l S E 3 4 Ce l Q l AAA AA A A A A je t s joy bununow NN M300 62 rev 2 88 Installation Manual 5 4 MRU junction box tive ta ce Pr FUSE 1A F MEU Side a lez Cache User Side 1 aci t3 TOE eee uuaumu uuuuuuucuu 0 Esc s nninninn t 3 tpm PED Ii IT 3 Ee
10. 110 M300 62 rev 2 Installation Manual Clean the centre conductor carefully with abrasive paper 4 Innenleiter mit Schleifpapier gut reinigen Limpiar cuidadosamente el conductor interior con el papel de lija with mit con TN Screw the connector on the cable as far as the stop 5 Verbinder bis zum Anschlag auf das Kabel schrauben Atornillar el conector en el cable hasta el tope Check connector seat by pulling the cable which should not be pulled out of the con nector 6 Zur Kontrolle am Kabel ziehen dabei darf sich das Kabel nich herausziehen lassen Controlar si el cable est fijo tirandolo Este no debe salir del conector M300 62 rev 2 111 Seapath 320 p ej 74 2 0 0337 112 Tighten connector head and cable entry with approx 25 Nm Rotate the cable entry only Verbinderkopf und Kabeleinf hrung mit ca 25 Nm zusammenschrauben Nur die Kabeleinf hrung drehen Montar la cabeza del conector y la en trada del cable con aproximadamente 25 Nm girando la gu a del cable Tighten the back nut of the cable entry as far as the stop Die hintere Mutter der Kabeleinf hrung bis zum Anschlag anziehen Apretar la tuerca posterior de la qu a del cable hasta el tope Optional Cover the mated connector pair with a cold shrink sleeve e g 74 200 337 Optional Verbinderpaar mit Kallschrumpf schlauch z B 74 200 337 zus tzlich abdichten Opcional Proteger
11. 20 PSXN 21 PSXN 22 and PSXN 23 cias Simrad EM1000 Simrad EM950 and EM1000 compatible A Seapath binary format 3 eub ecd duo emendo Simrad EM3000 Simrad EM3000 EM300 and HiPap compatible TP e TERRA ITS Calibration format ide MN CC LM C DR A e Echo sounder format lp ii tia RD Instrument ADCP proprietary NMEA format PRDID OS Seapath binary format 11 a a E Lehmkuhl gyro repeater format eel tine ta di estar A ee ee een tn 1PPS time tag NMEA ZDA message E 1PPS time tag Trimble compatible messages iio Atlas Fansweep format PST NASA ES TARA AE AA Echo sounder format 18 TSS1 RA RTCM v3 raw GPS output X Seapath binary format 23 p RR C E EE RE EDT SER o CR CUN PFreeHeave format M300 62 rev 2 11 Seapath 320 2 9 Data inputs 2 9 1 Processing Unit DGPS COMECHONS SE RTCM SC104 v 2 2 and 2 3 aladas Trimble CMR DGLONASS COLTGELOBS dr tes ede Yea a ee auae RTCM SC104 v 2 2 E NMEA 0183 HEHDT and HEHRC EE Robertson LR22 BCD format 2 10 Compass safe distance 2 10 1 Processing Unit Standard compass mounted in 6U cabinet essere 2 6m 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 iu c
12. APPENDIXD 12 COAX CABLE SPECIFICATION 117 APPENDIX E RG 214 SPECIFICATIONS 119 APPENDIX F SERIAL PORT EXTENDER nn 121 EX Mechanical installation ni tes einer ln 121 VI M300 62 rev 2 Installation Manual 1 2 See EE ON e cech daa lilas 122 ES ECONO ii odias 122 APPENDIX G FREE AND OPEN SOURCE SOFTWARE 123 Gd GNU General Public License yes EES Ed 123 E GNU Lesser General TE E 126 G3 BSD Licens ile 129 GA NTP Te AI ac 129 GD Berkeley AA A es ai 130 3 6 OpenSSL License rein 130 G 7 WU FTPD Software License a year 132 G 8 Ubuntu licensing iii al R E Ro E QUE 132 M300 62 rev 2 VII Seapath 320 List of figures Figure 1 Standard system for 19 inch rack mounting eee 2 Figure 2 Rear panel of Processing Unit without chord anchorage 14 Figure 3 Connector board 2G 2e ces state astes Gein tos ath io et ess iesti 16 Figure 4 External alarm connection diagram sss sees eee eee eee 18 Figure 5 Front panel of Processing Un 2l Figure 6 Front view of HMI Unit iiie aaa a ea 25 Figure 7 Location or system parts dae d ENEE 28 Figure 8 Dimensional drawing for antenna holder 34 Figure 9 Top view of Antenna Bracket cuesta 35 Figure 10 Different components for mounting of Antenna Bracket 3 Figure 11 Side view of GNSS antenna installation eee 36
13. Figure 12 Recommended orientation of the MRU mounting bracket 37 Figure 13 Wall mounting of bracket with MRU connector pointing down 37 Figure 14 Sticker 4 shall indicate actual MRU mounting orientation within bracket 38 Figure 15 MRU Junction box mounting sss ceu ee 39 Figure 16 Offset vectors between the different components esee 43 Figure 17 Page 1 of GNSS antenna calibration esee 46 Figure 18 Page 2 of antenna calibration wizard sse eee eee 47 Figure 19 Page 3 of antenna calibration wizard sss eee eee 47 Figure 20 Page 4 of antenna calibration wizard sss sees eee 48 Figure 21 Alignment of MRU yaw axis to vessel longitudinal axis 49 Figure 22 Value of roll error as a function of vessel pitch angle displayed at 0 5 1 and 1 5 MRU yaw misalignment alii 50 Figure 23 Change system mode Med incio cid ida 51 Figure 24 NavEngme Configuration 52 Figure 25 NavEngine Configuration view see ee eee eee ee eee ee eee eee 52 Figure 26 History DUO na Ra 53 Figure 27 Configuration manager nr 53 Figure 28 Vessel geometry View see eee eee ee eee eee 54 Figure 29 Example GA drawing of multi purpose vesgsel eee 56 Figure 30 Example of vessel shape in user text HG eee 56 Figure 31 Example vessel shown in Vessel Geometry view eee 57 VIII M300 62 rev 2 Installation Manual Figure 32 Figure 33 Figure 34 Figure 35 Figure
14. Hoja 01 88 L L3IVOS Y 1W130 M300 62 rev 2 84 Installation Manual 8 1 9 s r t z 1 0 L l 0040 LLV 700L0 suoisuauuiq Aj quiassy UIOW pn NL XOOZAMH X3 095 SV SVINJANI seon HE uf aos poc araa geed saal S m BHEL XoJD Blaqsb uoy uoissiuuad UYUM JNO 4noujm si9ujo 01 SIgDIIDAD 60026 net eppuu JO paja o pardos eq you AOW BUIMDIP SIUL 08 i 00 z i D D e e m x L L31v2S E e a Y 1V130 k y LU e L ser 9 1 S9 tr 85 M300 62 rev 2 Seapath 320 Antenna bracket 5 2 cha voeog DA pmaucay DO OMOZL8E sv Sunc W jx Oli sees pov ney OULUDD seg CZ 1016 panss l B uonaefoAg RUM ENDE 33010H VNN3INV anno A E 006 HiVdV4S anu Uulye SISysom Z at buet INN 11 8 5 uBIS ayog uondisag Aan Siu QIN X y SM9J98 Z sajoy EEN uugee q pao SC an sonores 2 E X H 2 zk ES Y yubiam WIN3IVMW WIC AdAL 3WWN S d KE 3 E f j DOZ 809 Uug ajojd wnuiwniy SM319S IN X y sbulysng Dags 2809 GXpx0pxG IT T wiuwuny Z dl3d uug 21010 10 D3jeJejus Ae A od
15. If the Format is set to RTCM two more settings are enabled Roll bytes The following roll bytes are available MSB first RTCM standard and LSB first Bits Byte The following bits byte are available 6 of 8 and 8 of 8 4 4 6 8 Analog output Three analog output channels are available from Seapath For each of the channels the user must specify the following M300 62 rev 2 TI Seapath 320 Monitoring point Select among the list of monitoring point and click on the MP in which the measurements are to be output Format The format of the output telegrams Select among the list of output formats lt Disabled gt Heave velocity m s Mod Roll rad Pitch rad Roll rad sin mod roll 1 to 1 simpic tol OOOO o O Gain Set signal gain Offset Set signal offset Input Output list Interface Type Direction 120 Properties Description A AAA EE O and ut HT oe 3 oo v Q Disabled Q OK Warning Q Conflict Y Configuration details Interface AnalogOut1 Description Analog Out 1 ne was Jr Y Analog properties Monitoring point NAVREF Format Constant je Gain 0 00 Offset 0 00 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 Bot
16. Technical Data Construction Material Detail Diameter Centre conductor Copper Silver plated Strand 19 2 25 mm Dielectric POE Polyolefine Elastomer 73 mm Outer conductor Copper Silver plated Braid 93 8 mm Outer conductor Copper Silver plated Braid 95 87 mm Jacket PVC II non migration RAL 9005 bk 10 8 mm 0 15 Print HUBER SUHNER RG 214 HiFlex 50 Ohm PA no Electrical Data Impedance 50 Q 2 Max operating frequency 6 GHz Capacitance 101 pF m Velocity of signal propagation 66 96 Signal delay 5 03 ns m Insulation resistance 21x 10 Mm Min screening effectiveness gt 70 dB up to 1 GHz Max operating voltage 5 KVims at sea level Test voltage 10 KVims 50 Hz 1 min Mechanical Data Weight 18 5 kg 100m Min bending radius static 15 mm repeated for max 50 bendings 60 mm dynamic 100 mm Environmental Data Temperature range 25 C 85 C Installation temperature 20 C 60 C Flammability IEC 60332 1 2002 95 EC RoHS compliant Ordering Information Order as RG_214_HIFLEX Additional Information Remarks For details refer to the HUBER SUHNER RF CABLES GENERAL CATALOGUE or contact your nearest HUBER SUHNER partner Suitable Connectors Cable group crimped U32 clamped U33 soldered M300 62 rev 2 119 Seapath 320 HUBER SUHNER DATA SHEET Coaxial Cable RG_214_HIFLEX Matrix Attenuation formula apos bn and Power CW rous p 190 5 Coefficients col BR ee Rev oc WM
17. means all files included in the original distribution including all modifications or additions on a medium and in a form allowing fully working executable programs to be produced 2 Redistributions of Source Code must retain the copyright notices as they appear in each Source Code file and the COPYRIGHT file these license terms and the disclaimer limitation of liability set forth as paragraph 6 below 3 Redistributions in binary form must reproduce the Copyright Notice these license terms and the disclaimer limitation of liability set forth as paragraph 6 below in the documentation and or other materials provided with the distribution For the purposes of binary distribution the Copyright Notice refers to the following language Copyright c 1999 2000 WU FTPD Development Group All rights reserved Portions Copyright c 1980 1985 1988 1989 1990 1991 1993 1994 The Regents of the University of California Portions Copyright c 1993 1994 Washington University in Saint Louis Portions Copyright c 1996 1998 Berkeley Software Design Inc Portions Copyright c 1983 1995 1996 1997 Eric P Allman Portions Copyright c 1998 Sendmail Inc Portions Copyright c 1989 Massachusetts 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 softwa
18. period the settling time will be slower than it has to For vessels performing surveys with frequent turns the period should be set as low as possible to minimise the heave settling time after turns Damping e The heave damping factor is usually set to 0 7 Only for special occasions should this parameter be changed In operations with heave periods of more than 25 seconds the damping factor should be reduced to 0 6 in order to achieve correct phase measurements In operations with heave periods of less than 2 seconds the damping factor should be increased to 0 8 For more details on selection of heave filter mode and parameters see the User Manual In order to select the heave configuration proceed as follows M300 62 rev 2 65 Seapath 320 e Enter the settings for heave filter in the MRU Heave config dialogue The pull down Option menu has the following options Integrated Automatic Hydrographic survey or General purpose In Integrated Hydrographic survey and General purpose mode the filter parameter for Period can be set to a value between 1 and 25 seconds and the Damping value between 0 2 and 1 NavEngine Configuration History El Vessel leave filte EE Deci en gege ze Jo i Description Option Hydrographic survey Roll Pitch dependent E GNSS Geometry Damping 07 Processing Attitude Processing E DBNSS SBAS E MRU Geometry E Monitoring Points Geometry Communication Interf
19. reet Wes atan wes atentan ue GW power watt dB ft sea level 25 C ambient temperature sea level 25 C ambient temperature sea level 40 C ambient temperature HUBER SUHNER is certified according to ISO 9001 and ISO 14001 WAIVER It is exclusively in written agreements that we provide our customers with warrants and representations as to the technical specifications and or the fitness for any particular purpose The facts and figures contained herein are carefully compiled to the best of our knowledge but they are intended for general informational purposes only HUBER SUHNER Excellence in Connectivity Solutions 120 4H HUBER SUHNER HUBER SUHNER AG RF Industrial 9100 Herisau Switzerland Phone 41 0 71 353 41 11 Fax 41 0 71 353 45 90 www hubersuhner com M300 62 rev 2 Installation Manual APPENDIX F SERIAL PORT EXTENDER The serial port extender part no G071 97 can be delivered as an option for connection to the Processing Unit The extender is a 8 port RS 232 422 485 serial device server type Moxa NPort 5650I 8 DT HJo Jett capo et co 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
20. the keyboard and the PC mouse to the HMI Unit Connecting cables with output data between the Processing Unit and external equipment optional Supplying 110 240 V AC power to the Processing Unit the HMI Unit and the monitor M300 62 rev 2 39 Seapath 320 3 4 2 1 Installation procedure Caution Attach the antenna cables to the GNSS antennas on the Bracket before attaching the antenna cables to the Processing Unit If the antenna cables are attached to the Processing Unit do not attach the antenna cables to the GNSS antennas with the Processing Unit powered on If the antenna cables are short circuited with power on the GNSS receivers within the Processing Unit will be damaged 1 Connect the two GNSS antenna cables to the connector 1 for GNSS antenna 1 and connector 2 for GNSS antenna 2 at the rear of the Processing Unit gt See APPENDIX B on how to install the coax connector on the Superflex antenna cable gt See APPENDIX C for more details on how to install the GNSS antennas 2 Wrap outdoor cable connections with waterproof self vulcanising tape An alternative way of waterproofing is to use heat shrink hose with glue The hose should cover the whole connector and part of the cable Note The GNSS antenna 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 Proces
21. 0 100 Back Next gt Cancel Failed to retrieve interface list from PU Some views might be disabled Figure 18 Page 2 of antenna calibration wizard Click Next to proceed to page 3 Data edit for information about the calibration result E Vessel Geometry Description E Sensors E GNSS Geometry Processing i Altitude Processing E DGNSS i SBAS E MRU L Geometry Heave config EX Monitoring Points i Geometry E Communication Interface Input Output i Data Pool M300 62 rev 2 1 Input parameters 2 Processing 4 Apply result Step 5 Below is the result of the antenna calibration measurements Number of samples Count Time Headng Dag Height diff DEZ Measurement period Save changes Delete line Revert Show graph Antenna baseline 2 500 0 003 Hemort Tans lt Back Next gt Cancel Figure 19 Page 3 of antenna calibration wizard 47 Seapath 320 9 Inspect the logged calibration data in the file Seapath cal for any wild points by selecting the command Show graph Correct the wild points found or delete the whole line s and perform a recalculation of the calibration data 10 When the Seapath calibration result has been found acceptable click Next to proceed to page 4 Input the mean value for the vessel heading reference in this example logged on a separate PC and found to be 160 00 degrees and click on Compute in
22. 2 13 Seapath 320 2 12 Interfaces Processing Unit The rear panel of the Processing Unit contains communication interface ports for interfacing to external equipment In addition a USB and a LAN port are situated at the front together with the power switch Figure 2 Rear panel of Processing Unit without chord anchorage 14 M300 62 rev 2 Installation Manual IMU 6 pins terminal Input of 115 230VAC Table 2 Connectors at rear of Processing Unit Connected to LAN 1 RJ 45 User configurable USB 1 USB User configurable Table 3 Connectors at front of Processing Unit Note All numbering of the 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 e EC 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 to line B It should be noted that the above A with respect to B levels are inverted from the voltage input output requirements of standard UARTS and that many line drivers and receivers provide a logic inversion 2 12 2 Pin layout 2 12 2 1 COM 1 and 2 Com 1 and Com 2 at the rear of the Processing Unit are 9 pin DSub male and have the following pin layout M300 62 rev 2 15 Seapath 320 Pinmo R
23. 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 Vessel Description View tens do lu doni ptt 57 GNSS sensor geometry configuration view sse eee ee eee eee 59 GNSS Processing settings VIEW esse eee eee eee 60 GNSS Attitude PrOPOSSIHE VIEW aaa 60 SBAS tracking VIEW ssl 61 NIRO ias 62 Step 1 of MRU axis Orientation csset nn ana 63 Step 2 of Manual input of mounting angles oooccnnnccnnncnonccnononannnona nono eee 63 Step 3 of Manual input of MRU mounting angles eene 64 Heave filtet VIew eite oo ee ee Noe ee oc at ed 66 Monitoring EE 67 Add a new monitoring point EEN 68 New monitoring point MP4 added to let 69 Renaming of monitoring point to preferred name 69 Input output view before interface details are added 70 Input Output list view with configuration details eee 71 Configuration details View stur NEEN 71 VO properties view when serial interface is selected 72 VO properties view when net interface is selected een 13 Interface set to Lelesr am Out He 72 RRE ee ee 74 Available NMEA telegraris u eai e st eee 75 Gyto properties dose cae ped ever E Mult tet Ee EE uo ed 76 Telegrami DEU VIEW ehesten ben ihnen 76 DGNSS Ink
24. Col pitcher The status byte can have the following values Interpretation 6 Noma o Reduced performance or invalid data A 12 Echo sounder format 18 TSS1 This echo sounder format is a proprietary ASCII text format with fixed length records used when connecting Seapath to Seabeam and other echo sounders Format Header 1 7 H sdddd Warming ha ort 15 19 0 01 degree sdddd 21 25 0 01 degree sdddd 27 Jo 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 acceleration s is the sign character space if positive and if negative dddd is a decimal number with leading zeroes where appropriate The warning character is F if data are normal f if data are invalid or of reduced quality Columns between elements are filled with spaces The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere The difference appears in the roll angle where 104 M300 62 rev 2 Installation Manual roll echo sounder arcsin incon sus COS PitCh joo A 13 Binary format 23 This binary format consists of a fixed length message using 1 2 and 4 byte signed and unsigned integers The signed integers are represented as two complement numbers For the multi b
25. 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 indicator to the left ES A EE E appears red When the software is up and running the EE mE mE mE indicator turns green Figure 6 Front view of HMI Unit M300 62 rev 2 25 Seapath 320 26 M300 62 rev 2 Installation Manual 3 INSTALLATION This chapter covers installation of the Seapath 320 system The installation includes e Location of the system parts Processing Unit HMI Unit MRU GNSS antennas e Mounting of the Seapath cabinet e Mounting of the MRU bracket e Installation of the coax connectors e Mounting of the antenna bracket GNSS antennas and cable e Connection of cables between Seapath and external equipment e System start 3 1 Logistics Safety General safety guidelines 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 Pr
26. HRH jojuosuoH IER OFS HOG Yjoyyasyua AjeAlod y ML 3 BulmoJp uo paijioads zou j W Q9 Z OSI 99UD13 0 UTN 8170 2 Dugg 3ubiew 10101 GEOL VW Jan unojo j o Janbop UD SIS J J9 OMDIS PUD JAW ySIUIY La Ss 2809 WNUILUN Y DJ9 DIA LL ap EH y SO4 C91 09 Qoce E 0 0062 250 0 D a i Il 40 0 L e gt o Ls 13 0 y 00918 250 0 10 0 00968 EDEN l X 018 te Canpol SZZ T USE T 08 0 059 ose ost ose T 008 Ne E a a MEER CUN CHE TUNES UNES S i 7504 M300 62 rev 2 86 Installation Manual 5 3 MRU and mounting bracket EI E 3 ei K gt z w S lt E 4 5 bd S E E 1 z wa scription 1 ibtitle MRU mountir dir 1 J LL rui M300 62 rev 2 87 Seapath 320 1039 E E ee q 910 S4 429w S scl nn YR TOY tma AE men V 925 g sees uag gZBOZO a 10176 bal E3 voten SEN vorssan ONYADIDOSDA Y znane AN 199019 SGW W NYNW en uis oe vondiosag en
27. INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE The licence and distribution terms for any publically available version or derivative of this code cannot be changed i e this code cannot simply be copied and put under another distribution licence including the GNU Public Licence M300 62 rev 2 131 Seapath 320 G 7 WU FTPD Software License WU FTPD SOFTWARE LICENSE Use modification or redistribution including distribution of any modified or derived work in any form or on any medium is permitted only if all the following conditions are met 1 Redistributions qualify as freeware or Open Source Software under the following terms Redistributions are made at no charge beyond the reasonable cost of materials and delivery Where redistribution of this software is as part of a larger package or combined work this restriction applies only to the costs of materials and delivery of this software not to any other costs associated with the larger package or combined work Redistributions are accompanied by a copy of the Source Code or by an irrevocable offer to provide a copy of the Source Code for up to three years at the cost of materials and delivery Such redistributions must allow further use modification and redistribution of the Source Code under substantially the same terms as this license For the purposes of redistribution Source Code
28. Lo Lo Lo Lo Lo Lo Lo Oe Q TelegramOutl 4 Ethemet Out BROADCAST_TX LAN2 0 0 0 0 any Seapath ms oo oo Q AnalogDutl Analog Dut none Analog Dut 1 Lo oo O Disabled Q OK gt Warning Q Conflict Connected to Seapath 330 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 70 M300 62 rev 2 Installation Manual NavEngine Configuration History El Vessel Input Output list Geometry Description a e Interface Type Direction 1 0 Properties Description Geometry D Dansstinko Sag COM S600 n 8 1 15 232 Processing Lo y eich Attitude Processing Q DanssLink2 Ethernet In BROADCAST_RX LAN3 0 0 0 0 200 G2 v E DGNSS Q Disabled Q OK Waring Q Conflict SBAS E MRU Y Configuration details Geomey Interface DgnssLinko Description TY Heave config TOM Type Geometry E Communication Interface Direction m Input Output Data Pool gt Command Interface Y UO Properties Port COMI Le Baudrate 9600 Le Electric RS232 Ir K Details Y DGNSS link properties Name RTK Format CMR Ir Supplier OTHER RTCM properties
29. PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU SHOULD THE PROGRAM PROVE DEFECTIVE YOU ASSUME THE COST OF ALL NECESSARY SERVICING REPAIR OR CORRECTION 12 IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED 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 INACCURATB OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS How to Apply These Terms to Your New Programs If you develop a new program and you want it to be of the greatest possible use to the public the best way to achieve this is to make it free software which everyone can redistribute and change under these terms To do so attach the following notices to the program It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty and each file should have at least the copyright line and a pointer to where the full notice is found one line to give the program s name and a brief idea of what it does Copyright C y
30. STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE This product includes cryptographic software written by Eric Young eay cryptsoft com This product includes software written by Tim Hudson tjh G cryptsoft com Original SSLeay License Copyright C 1995 1998 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 Ihash DES etc code not just the SSL code The SSL documentation included with this distribution is covered by the same copyright terms except that the holder is Tim Hudson tjh cryptsoft com Copyright remains Eric Young s and as such any Copyright notices in the code are not to be removed If this package is used in a product Eric Young should be given attribution as the author of the parts of the library used This can be in the form of a textual message at program startup or in documentation online or textual provided with the package Redistribution and use in source and binary forms with or without modification are permitted provided that the following condition
31. calib gyro offs roll pitch heave roll rate pitch rate yaw rate M300 62 rev 2 Heading degrees true on format d dd 0 00 359 99 Standard deviation of the semi major axis of the position error ellipse in metres on format m mm Standard deviation of the semi minor axis of the position error ellipse in metres on format m mm Orientation of the semi major axis of the position error ellipse in degrees 0 180 Standard deviation of latitude error in metres on format m mm Standard deviation of longitude error in metres on format m mm Standard deviation of height error in metres on format m mm GPS position mode setting A height aiding enabled M 3D only GPS position mode used 1 no GPS position 2 height aided 3 satellites 3 3D Satellite ID number PRN 01 32 PDOP on format x x VDOP on format x x GPS range residual in metres on format m m no fraction if the value is greater than 99 9 metres Horizontal position and velocity quality 0 normal 1 reduced performance 2 invalid data Height and vertical velocity quality 0 normal 1 reduced performance 2 invalid data Heading quality 0 normal reduced performance 2 invalid data Roll and pitch quality 0 normal 1 reduced performance 2 invalid data Gyro calibration value since system start up in degrees on format d dd Short term gyro offset in degrees on format d dd Roll in degrees on format d dd Posi
32. distributed along with it For example the license must not insist that all other programmes distributed on the same medium be free software May require source modifications to be distributed as patches In some cases software authors are happy for us to distribute their software and modifications to their software as long as the two are distributed separately so that people always have a copy of their pristine code We are happy to respect this preference However the license must explicitly permit distribution of software built from modified source code Documentation Firmware and Drivers Ubuntu contains licensed and copyrighted works that are not application software For example the default Ubuntu installation includes documentation images sounds video clips and firmware The Ubuntu community will make decisions on the inclusion of these works on a case by case basis ensuring that these works do not restrict our ability to make Ubuntu available free of charge and that Ubuntu remains re distributable by you The purpose of the restricted component The Ubuntu team recognises that many users have vital hardware in their computer that requires drivers that are currently only available in binary format We urge all hardware vendors to insist that their suppliers provide open source drivers for their components but we recognise that in some cases binary drivers are the only way to make your hardware work As a result Ubuntu include
33. el conector utilizando un tubo exterior colocado en fr o M300 62 rev 2 Installation Manual without ohne sin Cut back the cable jacket about 19 mm 0 75 in Kabelmantel 19 mm zur ckschneiden Cortar y separar 19 mm del revestimiento exterior Cut back the outer conductor 8 mm 0 37 in Do not damage the centre conductor Aussenleiler 8 mm zur ckschneiden Innenleiter darf nicht besch digt werden Cortar 8 mm del conductor exterior No dafiar el conductor interior Chamfer centre conductor Innenleiter anfasen Dar forma c nica al conductor interior Follow with step 3 on page 2 Fahren Sie mit Schritt 3 Seite 2 weiter Continue con paso no 3 p gina 2 M300 62 rev 2 113 Seapath 320 114 M300 62 rev 2 Installation Manual APPENDIX C GNSS ANTENNA INSTALLATION Installing the antenna After a site has been selected install the antenna as follows 1 Verify that the thread on the mount does not extend more than 7 8 22 mm to ensure the plastic inside the antenna receptacle is not damaged when the mount is inserted If it extends further than 7 8 22 mm add two jam nuts to shorten the exposed thread ensuring the nuts are well tightened 2 Align the mount thread with nage T dist the metal adapter on the mm e bottom of the antenna and u rotate the antenna clockwise ER En until it is securely screwed to CT ER the mount Using a wrench
34. has appeared then you can specify that version instead if you wish Do not make any other change in 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 Section 2 in object code or executable form under the terms of Sections 1 and 2 above provided that you 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 Tf distribution of object code is made by offering access to copy from a designated place then offering equivalent access to copy the source code from the same place satisfies the requirement to distribute the source code even though third parties are not compelled to copy the source along with the object code 5 A program that contains no derivative of any portion of the Library but is designed to work with the Library by being compiled or linked with it is called a work that uses the Library Such a work in isolation is not a derivative work of the Library and therefore falls outside the scope of this License However linking a work that u
35. is positive when starboard side of the vehicle moves down Normally roll means the dynamic roll angle motion Starboard When looking in the bow direction of a vehicle this is the right hand side of the vehicle Surge The alongship dynamic motion of a vehicle and defined positive forward M300 62 rev 2 XII Seapath 320 Sway The athwartship dynamic motion of a vehicle and defined positive starboard This axis is fixed in the vehicle and points in the downward direction when the vehicle is aligned horizontally Positive rotation about this axis is turning the bow of the vehicle to starboard 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 3 4 GPS 702GG and GPS 701GG User Guide OM20000095 Rev 1 NovAtel Inc January 23 2006 XIV M300 62 rev 2 Installation Manual Health environment and safety warnings All electrical and electronic components have to be disposed of separately from the municipal waste stream via designated collection facilities appointed by the government or local authorities The correct disposal and separate collection of your old appliance will help prevent p
36. 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 c 1983 1989 1990 1992 1993 1995 The Regents of the University of California Copyright c 1988 1994 Julianne Frances Haugh All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 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 Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER AS IS AND ANYEXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIA
37. on the Web at http www sleepycat com Copyright c 1990 2004 Sleepycat Software All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 Redistributions in any form must be accompanied by information on how to obtain complete source code for the DB software and any accompanying software that uses the DB software The source code must either be included in the distribution or be available for no more than the cost of distribution plus a nominal fee and must be freely redistributable under reasonable conditions For an executable file complete source code means the source code for all modules it contains It does not include source code for modules or files that typically accompany the major components of the operating system on which the executable file runs THIS SOFTWARE IS PROVIDED BY SLEEPYCAT SOFTWARE AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR NON INFRINGEMENT ARE DISCLAIMED IN NO EVENT SH
38. order to calculate the heading offset NavEngine Configuration 1 Input parameters 2 Processing 3 Data edit 4 Apply result De T SS HF B Dk A Step 6 MRU Heading offset calculation based on reference heading observation and the found Seapath heading mean Reference heading 160 00 0 360 B Seapath heading T ES Current heading offset 1 0 Determined heading offset 5 63 0 360 Compute Step 7 Press Finish to accept the result and exit the wizard Press Cancel to discard the calibration result WARNING Pressing Cancel will clear measured data and requires a restart of the calibration process lt Back Finish Cancel Figure 20 Page 4 of antenna 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 vessel axes must be precisely calculated and accounted for The MRU axes and particularly the yaw axis must be aligned with the vessel axes with an accuracy better than 0 5 degrees to ensure that the MRU functions are according to specifications For multibeam echo sounder applications an accuracy better than
39. output once per second approximately 0 5 seconds before the time pulse The message format is fixed length ASCII text The message contains the UTC time of the next time pulse Format hh mm ss yy mo da is year 00 99 month of year 01 12 and day of month 01 31 hh mm ss is hours 00 23 minutes 00 59 and seconds 00 59 Fix type 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 1s a proprietary binary format used for outputting data to Atlas Fansweep echo sounders It consists of a fixed length message using single byte and 2 byte two complement integer data elements For the 2 byte elements most significant byte is transmitted first Format O E 90 degrees Integer 2 Pich 2M 90degrees Imeger 2 Hewe millimewes Une 2 EES Stopbyte meger fions M300 62 rev 2 103 Seapath 320 Roll is positive with port side up Pitch is positive with bow up Heave is positive up The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere The difference appears in the roll angle where roll arcsin introll
40. pitch angle deg Figure 22 Value of roll error as a function of vessel pitch angle displayed at 0 5 1 and 1 5 MRU yaw misalignment 50 M300 62 rev 2 Installation Manual 4 CONFIGURATION Seapath has a graphical user interface which includes configuration data presentation and sensor status This chapter describes the Seapath configuration management system 4 1 Starting the system After installing the equipment according to the procedures the system can be started Press the power switch on the front of the Processing and HMI Units to start the systems The system will start automatically after power on Normally the unit will output signals on the serial lines without any involvement from the user 4 2 System configuration 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 E ti mode In this mode it SE is not possible to Information launch any external Select monitoring point applications diagnostic tools or reconfigure the system NavEngine Operator sw Help F1 ae um mu Restart Configuration mode In this mode it is possible to change settings related to the connected sensors applications and system wide settings Operation Configuration e Engineering Ctri e Stop Shutdown Figure 23 Change system mode menu Engineering mode This mode i
41. properties eege 11 Analog CEET 78 Data Pool configuration VIEW sese ee eee eee to iet ira vo Ege eR resa e UNENEE 79 Confre rallon Copier seien T 80 Serial port extender with SPOTS ta aiii 121 M300 62 rev 2 IX Seapath 320 Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 List of tables GNSS antenna cable specification u eee ea a Seed codenecens 13 Connectors at rear of Processing Ud id 15 Connectors at front of Processing Unit u u a 15 Pin layout of Com land Com 2 u 16 Pin layout of Com 9 through Com ld 17 Pin layout ot PPS port iii a aa 17 Pin layout er Alarm vais ecto ended nd ete dafs 18 Pin Tavoutor Analog Ut e 19 Pin davoutot MRU estat ic italia 20 Pin layout for LAN 1 Ethernet ports sss sees eee eee eee ee eee 20 Pin layout for LAN 2 3 and 4 Ethernet ports eee 21 MRU to Processing Unit cable wung eee 23 Connectors at rear of HMI Unit ot 24 Connectors at front of HMI lt Ra 24 Pin layout for HMI Unit Ethernet portz eene 24 M300 62 rev 2 Installation Manual Abbreviations Aft Perpendicular The vertical intersection of the design waterline at the stern alternatively the centerline of the rudder stock Base Line Is the same as the keel for a vessel with horizontal keel line Circular Error Probability Centre of gravity The mass centre of a vessel This is normally the locati
42. ratiOn Lara ete eet eee le lagen 61 4AA MRU configuration o note tl laa 61 44 5 Monitoring ON 66 4 4 6 Communication interface 3 dde eH RO ean HR E HP e 70 4 4 7 Data pool eben dead ee Bu sk 79 M300 62 rev 2 V Seapath 320 45 tee diia 19 c SRR DD Apa todo told 80 5 DRAWINGS iia ne 83 2 1 Processing and HAM Units ea Ean Ea A oeei 84 A reellen 86 5 9 MRU and mounting bracket neuen ein a Ue nae 87 54 MRU Junction DOK aere de let ed 89 5 5 GNSS antenna mechanical drawings s niei eto ed Seide tei aides 90 5 6 30 Ucabinet dimensions eene 91 APPENDIX A OUTPUT PROTOCOLS nnn nnn 93 ALT NMEA formatu T ds isa dasa tioloa ces e eae wo sats pas pada Page seat 93 22 Binary format NEE 96 Ago E II A red eb Re pd IRR 97 AA Calibration format lina 98 AS Echo sounder format 9 siii iii 99 ACO ABE f rmat lO deei eb 100 AR NA 1ormal e e UM D DU 100 A 8 Lehmkuhl gyro repeater format I2 oie oisi ias 102 AH 1PPS time tag NMEA ZDA message sese eee 102 AAO 1PPS time tag Trimble compatible 2 22 2222 aa 103 A 11 Atlas Fansweep format 10 aa iue iet isses 103 A 12 Echo sounder format 18 TSS 1 nene eene nnnnneme nenne nnn 104 ALS Binary format 29 oh o die es es 105 A 14 PPreeHeave format 24 nece idea hen 106 A I5 Cyclic redundancy check algoritmo eee ideas ees 107 APPENDIX B INSTALLATION OF COAX CONNECTORS ON SUPERFLEX CABLE nam 109 APPENDIX C GNSS ANTENNA INSTALLATION 115
43. the same as the heading output on the other formats Gyro heading is from an external gyro 0 00 if no gyro is connected Baseline is the slant range between the antenna centres from the GNSS phase measurement Height is the height difference between the antennas from the GNSS phase measurement Height is positive if antenna 1 is above antenna 2 The data are intended for calibration of the antenna installation so no data are output 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 Header Piro jJ ee CA TE E Nep ic T 15 19 0 01 degree sdddd 21 25 0 01 degree sdddd 26 27 RAR 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 fomat is output from other systems Seapath does not output acceleration s 25 is the sign character space if positive and if negative dddd is a decimal ban with leading zeroes where appropriate The warning charater is space if data are normal if data are invalid or of reduced quality Columns between elements are filled with spaces The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere The difference appears i
44. time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the Program specifies a version number of this License which applies to it and any later version you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Program does not specify a version number of this License you may choose any version ever published by the Free Software Foundation 10 If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different write to the author to ask for permission For software which is copyrighted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally NO WARRANTY 11 BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE THERE IS NO WARRANTY FOR THE PROGRAM TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
45. 0 1 degrees is required to ensure satisfactory performance 48 M300 62 rev 2 Installation Manual A typical alignment process consists of aligning the MRU axes to an external reference Type of reference must be determined according to the required accuracy The reference for roll and pitch alignment must be carefully selected depending on the intended application It may be the hull a sensor such as a multibeam echo sounder A p or a USBL acoustic system L A Some sensors have internal alignment routines and accurate alignment of the n MRU is not required The MRU mounting wizard is O24 described later in this manual This includes an automatic procedure for obtaining the roll and pitch mounting Fi j angles igure 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 degraded Figure 22 illustrates that a misalignment of 1 degree of the MRU in yaw will result in a roll error of 0 09 degrees if the vessel is pitching 5 degrees To calculate the misalignment of the MRU axis to an accuracy of 0 5 degrees or better is not an easy task and requires use of an accurate external reference M300 62 rev 2 49 Seapath 320 Misalignment about yaw axis roll error deg
46. 00 Yaw 0 000 A o Pp Or use the MRU Mounting wizard to find the correct 9 mounting angles Mounting wizard Y Connected to Seapath 330 Figure 37 MRU geometry view MRU location Enter the position of the MRU in X Y Z coordinated 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 the MRU Geometry view 2 Select Manual mode in Step 1 and click Next see Figure 38 62 M300 62 rev 2 Installation Manual NavEngine Configuration Apply Revert History E Vessel Geometry Description E Sensors E GNSS Geometry E DGNSS SBAS E MRU Geometry E Monitoring Points Geometry E Communication Interface Input Output Data Pool 1 Wizard mode o o ef g 3 E VUN 9202192 VOM 2 Orientation 3 Offset angles Step 1 Wizard Mode Select which mode you choose to operate the wizard in O Manual Next gt Cancel Figure 38 Step 1 of MRU axis orientation Click the lt lt or gt gt buttons in the lower left part of Figure 39 to turn the MRU unit around in 90 degree steps axis
47. 328 ft 2 12 3 LED indicators Processing Unit At the front of the Processing Unit there are four LED indicators The LED to the left indicates power and software status the second to the left indicates MRU status while the LED to the right indicates network card status The last LED has for the moment no function and will always be turned off Figure 5 Front panel of Processing Unit M300 62 rev 2 21 Seapath 320 The LED to the left indicates power and software status During start up the indicator to the left SS A EE E appears red When the software is up and running the UE C Be indicator turns green The second LED to the left indicates MRU status The LED is red when there is no contact EZ Sa SS with the MRU The LED is yellow when there is contact EEEN Si EEEN EE with the MRU but PPS or data are missing The LED is green when there is contact mE I mE mE with the MRU and PPS and data are OK The LED to the right indicates status of the four network cards The LED is red if there is an error on one mE mE ES or more network cards The LED is green when all four network MB BD EE 1S cards are OK During normal operation all LEDs should EE 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 for the
48. 62 rev 2 Installation Manual e The HMI Unit and the monitor should be mounted close to each other to reduce the length of the VGA cable e tis recommended that the area around the unit is kept free from dust and static electricity 3 3 Survey of sensors on vessels All sensors need to be surveyed The points to measure on the various sensors MRU GNSS antenna gyro and the accuracy requirements depend on the function of the sensor If a sensor has a defined direction fwd stb up the direction in which it is mounted must be determined All available sensors can be surveyed either in dock or alongside 3 3 1 Vessel reference system All vessels must have a defined Cartesian coordinate system to which all sensors must be referenced This system should be well described in both text and drawings to avoid common misunderstandings Such a coordinate 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 X20 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 GA drawings The reference plane of this system must be well defined and described This can be a Best Fit Plane top main deck or a Best Fit Plane through the draught marks on
49. ALL SLEEPYCAT SOFTWARE BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Copyright c 1990 1993 1994 1995 The Regents of the University of California All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 Neither the name of the University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIM
50. E DGNSS vo E MRU Geometry CS KS Keel E Monitoring Points S HiPap Geometry E Communication Interface Input Output Data Pool E RE v ok iode CL re 5 Crane tip X 45 89 Y 16 25 Z 31 63 BA Show sensors Name Position m Crane tip 16 70 16 12 25 69 HiPap 8384 1 87 2 39 Moonpool 42 20 40 34 10 71 Connected to Seapath 330 Figure 45 Renaming of monitoring point to preferred name M300 62 rev 2 69 Seapath 320 4 4 6 Communication interface 4 4 6 1 Input Output The figure below displays a default view for the Input Output communication before any interface details are added NavEngine Configuration Apply Bevet Hity E Vessel Input Output list Geometry Description ka Gen Interface Type Direction 120 Properties Description Geometry GnssReci Serial In GNSSA1 57600 n 8 1 Receiver 0 Processing Q GnssRec2 Serial In GNSSB1 57600 n8 1 Receiver 1 Attitude Processing O MRU Serial In Out MRU 57500 n 8 1 IMU 0 5 DGNSS Lo SBAS DanssLinkO Serial In COM1 9600 n 8 1 15 232 RIK Er MRU oe Geometry Q DanssLink2 Ethernet In BROADCAST_RX LAN3 0 0 0 0 any G2 Heave config oe E Monitoring Points Q TelegramOutt Serial Out COMS 38400 n 8 1 15 232 Telegram Out 1 Geometry Q TelegramDut2 Ethernet Out BROADCAST TX LAN3 0 0 0 0 any Telegram Out 2 E Communication Interface oe Do Data Pool Command Interface oe
51. ED IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Copyright c 1995 1996 The President and Fellows of Harvard University All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 Neither the name of the University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY HARVARD AND ITS CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR P
52. ENDIX A OUTPUT PROTOCOLS The following output data protocols are available from Seapath NMEA NME and proprietary messages Simrad EM3000 Hipap 6 Simrad EM3000 300 and Hipap compatible Calibration format for GPS antennas Echo Sounder fm9 9 Echo sounder format S Seapath binary format 3 Echo sounder format 1 U 1PPS time tag Trimble compatible message PFreeHeave format 24 Delayed heave format 1 RDI ADCP RDI ADCP format PRDID 4 A 1 NMEA format The NMEA format is an ASCII text format using ZDA GGA GLL VTG HDT GST GSA and GRS messages defined in 1 and the proprietary PSXN 20 21 22 and 23 messages conforming to the same specification Format INZDA time day month year csum term INGGA time lat NIS long EIW ga qual nsat hdop height M M age stn csum term INGLL lat NIS Jong EIW time gll qual mode csum term INVTG course T M speed N K mode csum term INHDT head T csum term M300 62 rev 2 93 Seapath 320 INGST time semi maj semi min ell orient sd lat sd long sd height csum term INGSA gsa mode gsa status id id id id id id id id id id id id pdop hdop vdop csum term INGRS time l res res res res res res res res res res res res csum term PSXN 20 horiz qual hgt qual head qual rp qual csum term PSXN 22 2yro calib gyro offs csum term PSXN 23 roll pitch head heave csum term PSXN 24 roll rate pitch rate yaw rate vertical vel csum term P
53. ERAGE POWER OEM jumpers Main feed transitions to equipment GPS lines Frequency Attenuation Attenuation Average Riser rated In Building JFN types only Me aoe yoo m EBI ft Power kw GENERAL INFORMATION 1 0 0 324 0 0986 20 5 Cable Type Foam Dielectric Superflexible 1 5 0 397 0 121 20 5 Size 1 2 2 0 0 458 0 140 18 8 STRUCTURE 10 1 03 0 314 8 37 Inner Conductor Material Copper Clad Aluminum Wire 20 1 46 0 446 5 90 Diameter Inner Conductor mm 3 6 0 14 30 1 80 0 548 4 80 in 50 2 33 0 710 3 70 Diameter Dielectric mm in 8 3 0 33 88 3 11 0 949 2 77 Outer Conductor Material Corrugated Copper 100 3 33 1 01 2 59 Diameter Copper Outer 12 3 0 48 108 3 46 1 06 2 49 150 4 10 1 25 2 10 E mm o 174 4 43 1 35 1 95 Diameter over Jacket Nominal 13 7 0 54 200 4 76 1 45 181 n 5 89 1 79 1 46 MECHANICAL SPECIFICATIONS 1 1 1 1 1 1 400 6 85 2 09 1 26 Cable Weight kg m Ib ft 0 21 0 14 450 7 29 222 1 18 Minimum Bending Radius 32 1 25 500 7 71 2 35 442 Repeated Bends mm in 512 7 81 2 38 1 10 Bending Moment Nem Ib ft 1 8 1 3 600 8 50 2 59 1 01 Flat Plate Crush Strength N mm 20 4 110 700 9 23 2 81 0 934 Ib in 800 9 92 3 02 0 869 Tensile Strength N Ib 650 146 824 10 1 3 07 0 855 Recommended Maximum Clamp 0 30 0 30 1 00 1 00 894 10 5 3 21 0 818 eni Sz E E LE ELECTRICAL SPECIFICATIONS aa 960 11 0 3 34 0 787 mpedance Ohm 50 1 1000 112 3 41 0 770 Velocity percent 82 1250 12 7 3 86 0 682 Capacit
54. 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 that the minimum antenna cable bends are not exceeded Note The recommended keyboard cable length is 3 3 m 10 feet maximum without degradation If longer keyboard cable is needed please use keyboard extender 3 4 Installation procedures 3 4 1 Mechanical installation The mechanical installation consists of e Making a holder for the Antenna Bracket and having it fastened in a suitable location in a mast e Mounting the Antenna Bracket with the GNSS antennas on a holder in the mast e Mounting the MRU bracket and the MRU near the user equipment for which attitude data is wanted or close to the selected Navigation Reference point M300 62 rev 2 33 Seapath 320 e Mounting of the Processing Unit in a rack in the instrument room or bridge e Mounting of the HMI Unit in a rack in the instrument room or bridge e Mounting the monitor close to the HMI Unit The installation procedure described below assumes that the Antenna Bracket delivered by Kongsberg Seatex is used and that a holder for this Antenna Bracket is prepared in accordance with the antenna holder drawing in chapter 5 3 4 1 1 GNSS antennas The mechanical installati
55. L DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE G 4 NTP License Copyright c David L Mills 1992 2009 Permission to use copy modify and distribute this software and its documentation for any purpose with or without fee is hereby granted provided that the above copyright notice appears in all copies and that both the copyright notice and this permission notice appear in supporting documentation and that the name University of Delaware not be used in advertising or publicity pertaining to distribution of the software without specific written prior permission The University of Delaware makes no representations about the suitability this software for any purpose It is provided as is without express or implied warranty M300 62 rev 2 129 Seapath 320 G 5 Berkeley DB License Id LICENSE v 11 12 2004 03 30 20 49 44 bostic Exp The following is the license that applies to this copy of the Berkeley DB software For a license to use the Berkeley DB software under conditions other than those described here or to purchase support for this software please contact Sleepycat Software by email at info sleepycat com or
56. LONASS corrections on one or more serial lines for improved position accuracy recommended Additional cables for input of DGPS DGLONASS corrections 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 arrangement for the Antenna Bracket and sufficient lengths of cable made available An external heading reference for example a surveyed quay is required for heading calibration Survey equipment should be made available for determination of the alignment offset in roll pitch and yaw M300 62 rev 2 Installation Manual The MRU unit is shipped in a specially designed 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 M300 62 rev 2 3 Seapath 320 4 M300 62 rev 2 Installation Manual 2 TECHNICAL SPECIFICATIONS 2 1 Performance data Roll and pitch accuracy for 5 amplitude sss 0 02 RMS Heading accuracy wit
57. M300 62 rev 2 Vessel Description Vessel name Arne Viking Vessel owner Yiking Drilling Country of origin Norway Vessel ID MMSI 247001 122 IMO Number f 23456 Figure 32 Vessel Description view The name of the vessel The name of the vessel owner The name of the vessel s country of origin The MMSI assigned to the vessel The IMO ID assigned to the vessel 57 Seapath 320 4 4 2 GNSS configuration 4 4 2 1 GNSS Geometry The lever arm vector from the AP to GNSS antenna no 1 has to be measured or calculated based upon drawings or previously measured points and entered into the software The antenna cable connected to GNSS1 at the back of the Processing Unit will be GNSS antenna no 1 in the installation Proceed as follows e Antenna location Set the Antenna location coordinates for the GNSS antenna which is defined to be antenna no 1 normally the antenna closest to the aft of the vessel Check that the antenna has been located on the expected spot in the vessel shape If not check the signs and the co ordinates input for GNSS antenna no 1 the vessel dimension and the entered location of AP e Antenna configuration In the Antenna configuration section input the antenna type Novatel NOV600 NOV702 or NOV702GG or GENERIC NONE means no antenna dome or choke ring included baseline length 2 5 metres if the standard Antenna Bracket is used otherwise this length has to be measured
58. MRU junction box should then shine green indicating that the MRU receives power A yellow light in LED2 indicates that digital data are sent from the MRU on TX 14 Ifthe software starts on both the Processing and the HMI Unit the installation is now completed and the setup of the configuration parameters can continue 3 4 3 Setup of configuration parameters Setup consists of e Entering lever arm vectors and mounting angles for the MRU and the GNSS antennas in the NavEngine configuration of the operator software e 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 gt See chapter 4 1 for a description of the operator software 3 4 3 1 Lever arm vector determinations The following lever arm vectors have to be determined and input to the operator software e The vector from the selected AP to the GNSS antenna no 1 e The vector from the selected AP to the MRU location e The vectors from the selected AP to each of the monitoring points maximum eight MPs All these vectors have to be measured or calculated based upon drawings or previously measured points These vectors are to be measured within an accuracy described in chapter 3 3 5 Positive vector orientation for these parameters is X positive forwards Y positive towards starboard Z positive downwards with the AP Aft Perpendicular as the origi
59. Processing Unit in the other end The MRU is then powered from the Processing Unit The cable wiring is as follows Processing Signal Pair no MRU MRU Unit MRU Colour junction box connector Pin no Pin no Pin no Screen chassis x3 side 24V MRU 1 x1 side ED 23821 2 xl side ER 22 M300 62 rev 2 Installation Manual Processing Signal Pair no MRU MRU Unit MRU Colour junction box connector i Pin no Pin no 3 X1 side 2 blue T 3bhe 6 etsidey P XIN MRU IPPS P la op 4bwe 24 xiside a Table 12 MRU to Processing Unit cable wiring The MRU is supplied with 24 V DC power from the MRU port on the Processing Unit Note The shield around each pair in the cable has to be individually isolated in the 10 pin terminal The outer shield is connected to pin 8 screen in this terminal which 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 communication between these two components 2 13 Interfaces HMI Unit The rear panel of the HMI Unit contains communication interface ports for interfacing to the Processing Unit In addition a USB a
60. S 232 Pinno RS22 1 moi 6 ose RXDI RTSI la mp s s 4 m r Table 4 Pin layout of Com 1 and Com 2 Note Com 1 and 2 are not as timing accuracte with regard to timing as 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 Com 9 Com 10 Com 11 Alarm MRU Analog out SES aa AREA ana aa 12345 12345 12345 2 8 12345 67 8 9 10 1234567 8 910 Com 12 Com 13 Com 14 IMU PPS Analog in EEERS EERED EEREEEEEEE EI 12345 12345 12345 1234507 8 9 10 123 456 123452585 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 their default settings are 16 M300 62 rev 2 Installation Manual Table 5 Pin layout of Com 9 through Com 14 PPS signal A 1 pulse per second 1PPS signal synchronized with GNSS time is available from the 6 pin terminal at the rear of the Processing Unit This RS 422 1PPS signal originates from the GNSS receiver within the Processing Unit The 1PPS signal is buffered and fed to the terminal The 1 PPS signal is active high and has a pulse width of 10 ms The 1 PPS is generated exactly once every second with its rising edge synchronised to GPS time Compared to the
61. SXN 21 event 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 Year on format yyyy lat Latitude 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 HDOP on format x x height Height above ellipsoid in metres on format m mm age Age of DGPS corrections in seconds on format s s stn DGPS reference station ID 0000 1023 gll qual Geographic position quality A valid D GPS used normal or reduced performance V dead reckoning or invalid position mode Positioning mode A GPS used D DGPS used E dead reckoning N invalid position velocity course Course over ground degrees true on format d dd 0 00 359 99 speed Speed over ground knots on format k k 94 M300 62 rev 2 Installation Manual head semi maj semi min ell orient sd lat sd long sd height gsa mode gsa status id pdop vdop res horiz qual hgt qual head qual rp qual gyro
62. 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 1PPS TX A Output PPS TXB GND isolated GND isolated ls IPPSRX A PPS RX B Input Table 6 Pin layout of PPS port Synchronized with this signal it is possible to output 1PPS time tag messages from Seapath These messages are the IPPS NMEA ZDA format no 13 or the Trimble compatible message format no 14 M300 62 rev 2 17 Seapath 320 gt 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 Pinno Sign Table 7 Pin layout of Alarm The diagram below shows how an external alarm can be connected to the Processing Unit ALARM terminal Processing Unit Rear Panel 4 BUZZER ALM_NO normally open p n ALM NC normally closed ZS T P N j ALM COM i d T GETTA NY 2 S d e T T 7 FROM UPS SUPPLY Figure 4 External alarm connection diagram 18 M300 62 rev 2 Installation Manual Analog output Three a
63. Seapath Engine to transmit calibration messages The configuration will log the transmitted data to a file for wild point detection and later processing Next gt Cancel Figure 17 Page I of GNSS antenna calibration 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 Before pressing Next and start logging of Seapath GNSS it is recommended to start recording data of the vessel reference heading on another PC or by manual readings When logging of the reference heading has started click Next in order to proceed to page 2 Processing The progress of the calibration process is then shown on the screen with a graphical presentation of the measured data for the Seapath heading the gyro compass if connected the antenna baseline length and the height difference M300 62 rev 2 Installation Manual NavEngine Configuration s s History R Vessel Geometry Description E Sensors GNSS Geometry Processing Attitude Processing E DGNSS SBAS E MAU Geometry Heave config E Monitoring Points Geometry E Communication Interface Input Dutput Data Pool Connected to Seapath 330 1 Input parameters 2 Processing 3 Data edit 4 Apply result Step 4 Time left 4109 s Calibration progress i S 0 0 g H diff 7200 3090 154 37 2 498
64. TIES PROVIDE THE LIBRARY AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE LIBRARY IS WITH YOU SHOULD THE LIBRARY PROVE DEFECTIVE YOU ASSUME THE COST OF ALL NECESSARY SERVICING REPAIR OR CORRECTION 128 M300 62 rev 2 Installation Manual 16 IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER OR ANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE LIBRARY 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 LIBRARY INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS How to Apply These Terms to Your New Libraries If you develop a new library and you want it to be of the greatest possible use to the public we recommend making it free software that everyone can redistribute and change You can do so by permitting redistribution under these terms or alternatively under the terms of the ordinary General Public License To apply these terms attach the follow
65. TS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGES 7 USE MODIFICATION OR REDISTRIBUTION OF THIS SOFTWARE IMPLIES ACCEPTANCE OF ALL TERMS AND CONDITIONS OF THIS LICENSE Id LICENSE v 1 4 2000 07 01 17 42 15 wuftpd Exp G 8 Ubuntu licensing Ubuntu is a collection of many computer programmes and documents created by thousands of individuals teams and companies Each of these works may come under a different license This license policy describes the process that we follow in determining which software we will ship by default on the Ubuntu Desktop CD Categories of software in Ubuntu 132 M300 62 rev 2 Installation Manual The thousands of software packages available for Ubuntu are organised into three key components main restricted and universe Software is published in one of those components based on whether or not it meets our Free Software Philosophy and the level of support we can provide for it You can read about these components in more detail http www ubuntu com community ubuntustory components This policy only addresses the software that you will find in main and restricted which contain software that is fully supported by the Ubuntu team and must comply with this policy In the universe component you
66. Timeout s 60 Short range G Connected to Seapath 330 Figure 47 Input Output list view with configuration details 4 4 6 2 Configuration 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 Y Configuration details Interface DgnssLink0 ve m 1 Direction Y 1 0 Properties Port IALA Baud rate Electric R5232 Y Details Parity None Data bits Stopbits 1 Figure 48 Configuration details view The Interfaces possible to be setup for Seapath are Gyro DGNSS link M300 62 rev 2 71 Seapath 320 Telegram out Analog out The different Types of interfaces possible are Serial Net The Direction which may be set up is In Out and In Out In the Description box it is possible to enter free text 4 4 6 3 I O properties The parameters displayed in the I O properties views are dependent on what Type of interface is selected in the Configuration details sections 4 4 6 3 1 Serial interface The default view for the serial port interface is as shown in Figure 49 Y 1 0 Properties Y Details 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 Processi
67. URPOSE ARE DISCLAIMED IN NO EVENT SHALL HARVARD OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE G 6 OpenSSL License LICENSE ISSUES 130 M300 62 rev 2 Installation Manual The OpenSSL toolkit stays under a dual license i e both the conditions of the OpenSSL License and the original SSLeay license apply to the toolkit See below for the actual license texts Actually both licenses are BSD style Open Source licenses In case of any license issues related to OpenSSL please contact openssl core Q openssl org OpenSSL License ooo ooo oo 2 2 Copyright c 1998 2006 The OpenSSL Project All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentat
68. Z HiPap Geometry E Communication Interface Input Output Data Pool X 7 8 Moonpool n CL i tip X 63 20 Y 2 40 Z 5 09 Show sensors Name Position m HiPap 83 84 1 87 238 Moonpool 4220 40 34 10 71 Connected to Seapath 330 Figure 42 Monitoring points view To add a monitoring point select the Add icon in the upper left a x corner of the view and drag the symbol to the correct location on l the vessel The selected 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 is default output in NRP M300 62 rev 2 67 Seapath 320 When the Add icon is selected red lines will be displayed on the screen to help placing the new point Co ordinates will also be displayed to help placing the monitoring point The 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 NavEngine Configuration Apply Revert E Vessel Geometry Description E Se
69. ace Input Output Data Pool Figure 41 Heave filter view e Click on the checkbox Roll Pitch dependent in the Heave mean level section to make the heave measurement dependent on the roll and pitch measurements Then the heave position in the monitoring points MP now longer has zero mean level 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 configuration dialogue to configure monitoring points for output of data Up to 8 monitoring points may be defined As the monitoring points are inserted they are displayed graphically The monitoring points are given relative to the AP Check that the monitoring points have been located on the expected points in the vessel shape If not check the signs and the co ordinates input for each monitoring point the vessel dimensions and the entered location of AP 66 M300 62 rev 2 Installation Manual NavEngine Configuration Apply Bevet Heen E Vessel Geometry X Description E Sensors E GNSS Geometry EZ tip E DGNSS SBAS B te E MRU Xx Geometry n ES Keel E Monitoring Points
70. ack with good ventilation and resilient mounting e tis recommended that the area around the unit is kept free from dust and static electricity e All connections to the unit are on the rear side and available space for cable connections and service must be provided 3 2 4 HMI Unit When installing the HMI Unit consider the following e The unit is designed for indoor installation and should not be exposed to heavy vibrations transformers or similar e The unit should be resiliently mounted in a 19 inch rack to be in accordance with the environmental standard IEC60945 EN60945 e The unit has an internal fan and requires free airflow from the rear and out to the sides It is recommended that ventilation or air conditioning is provided in order to keep the ambient operating temperature around 20 C The best location is typically on the bridge mounted into a 19 inch rack with good ventilation and resilient mounting e tis recommended that the area around the unit is kept free from dust and static electricity e All connections to the unit are on the rear side and available space for cable connections and service must be provided 3 2 5 Monitor When installing the monitor consider the following e The unit is designed for installation in an indoor environment and for operation within the temperature range The best location is typically on a table in the instrument room or on the bridge mounted close to the HMI Unit 30 M300
71. amosecond Les 4 0 999999999 Latitude 2W 0o0degrees Imeger 4 20 2 4 4 230 90 degrees 4 Height metres Float i TI Heave metres oat Ja o ooo North velocity metres second Fox I East velocity metresfecond Flox 4 Down velocity metresfsecond Fian 4 3 Ro ahn Lea 4 o ich rain Lea 4 96 M300 62 rev 2 Installation Manual Status word Bitfieids Checksum JUnsgned 1 0 255 Length is number of bytes between but not including the Length and Checksum fields Checksum is calculated modulo 236 of all bytes between but not including the Length and Checksum fields The contents of the Token field is adjustable 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 32 single bit flags numbered from 0 to 31 where 0 is the least significant bit A 1 value true means o Reduced horizontal position and velocity performance Invalid heave and vertical velocity data Reduced roll and pitch performance 5 Imvalidrollandpitendata o Invalid roll and pitch data Reduced heading performance Invalid heading data The remaining bits in the status word are reserved for future expansion A 3 Simrad EM3000 format 6 The Simrad EM3000 format consists of a fixed length message using single by
72. ams enables many more people to use the whole GNU operating system as well as its variant the GNU Linux operating system Although the Lesser General Public License is Less protective of the users freedom it does ensure that the user of a program that is linked with the Library has the freedom and the wherewithal to run that program using a modified version of the Library The precise terms and conditions for copying distribution and modification follow Pay close attention to the difference between a work based on the library and a work that uses the library The former contains code derived from the library whereas the latter must be combined with the library in order to run GNU LESSER GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION 0 This License Agreement applies to any software library or other program which contains a notice placed by the copyright holder or other authorized party saying it may be distributed under the terms of this Lesser General Public License also called this License Each licensee is addressed as A library means a collection of software functions and or data prepared so as to be conveniently linked with application programs which use some of those functions and data to form executables The Library below refers to any such software library or work which has been distributed under these terms A work based on the Library means either the Library or any derivativ
73. ance pF m pF ft 82 0 25 0 1500 1 40 4 26 0 61 6 Inductance vim uH ft 0 207 0 063 1700 15 0 4 57 0 575 Maximum Frequency GHz 117 1800 15 5 4 72 0 557 Peak Power Rating kW 20 5 2000 16 4 5 01 0 525 RF Peak Voltage Volts 1430 2100 16 9 5 15 0 511 Jacket Spark Volt RMS 5000 2200 17 3 5 28 0 498 Inner Conductor dc Resistance 2 9 0 88 2400 18 2 5 55 0 474 ohm 1000 m ohm 1000 ft 2000 20 7 6 30 0 417 Outer Conductor dc Resistance 3 4 1 04 3500 22 6 6 88 0 382 ohm 1000 m Ohm 1000 ft d 4 Ex mu 5 d 2 1 31 See Installation Operation and Storage Temperatures on page 28 For premium return loss codes see page 29 6000 31 0 9 4 0 278 7000 34 0 10 4 0 254 8000 36 8 11 2 0 234 9000 39 6 12 1 0 218 CONNECTORS AND ACCESSORIES 10000 42 3 12 9 0 204 Connectors See pages 70 77 11700 46 6 14 2 0 185 Jumpers WW Seepagesg2 8 Sio See pages 82 87 Standard Conditions Accessories Seepages97100 For attenuation VSWR 1 0 cable temperature 20 C 68 F Coaxial Devices See pages 106 108 For average power VSWR 1 0 ambient temperature 40 C 104 F Technical Appendix See pages 639 648 inner conductor temperature 100 C 212 F No solar loading M300 62 rev 2 117 Seapath 320 118 M300 62 rev 2 Installation Manual APPENDIX E RG 214 SPECIFICATIONS HUBER SUHNER DATA SHEET 455 Coaxial Cable RG_214_HIFLEX Rev om Y AA SUHNER SWITZERLAND Description PE 50 Ohm double screen
74. baseline length between the GNSS antennas to within a tolerance of one centimetre or better If the standard antenna bracket 1s 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 was not entered as zero in the operator software on beforehand the calibration value should be added to the existing offset value The baseline length and height difference should be determined within an accuracy of 10 centimetres in height difference and 1 mm in baseline length These values should be entered into the Seapath through the operator software configuration dialog under NavEngine configuration in the System menu By using the calibration wizard in the operator software the baseline length and height difference are calculated automatically Note Before starting the calibration wizard the MRU mounting angles have to be correct and used by the Seapath applied before entering the calibration wizard Else the calculation of the height difference will be incorrect unless the vessel has zero roll and pitch Incorrect height difference will degrade the heading accuracy Example If the heading measured by the reference system is found to be 32 1 degrees and the Seapath heading after the calibrat
75. ble Avoid mounting the MRU high up or out to the side of the ship Be aware of Vibrations Direct mounting onto the main hull structure is preferable Note The worst mounting positions are thin walls that may come in resonance with vibrations driven by machinery propellers pumps or motors Avoid mounting the MRU close to hydraulic pumps and valves where there are high frequency vibrations Temperature changes For safe mounting of the MRU place the unit in a location where the temperature is low and where changes in temperature are slow A location directly on the hull far away from the heat of the machinery heaters and air conditioning systems is preferable Corrosion problems Place the MRU in a location where no direct splashing seawater is present M300 62 rev 2 29 Seapath 320 3 2 3 Processing Unit When installing the Processing Unit consider the following e The unit is designed for indoor installation and should not be exposed to heavy vibrations transformers or similar e The unit should be resiliently mounted in a 19 inch rack to be in accordance with the environmental standard IEC60945 EN60945 e The unit has an internal fan and requires free airflow from the rear and out to the sides It is recommended that ventilation or air conditioning is provided in order to keep the ambient operating temperature around 20 C The best location is typically in the instrument room or on the bridge mounted into a 19 inch r
76. 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 NavEngine Configuration Apply Revert History E Vessel Geometry Description E Sensors Ei GNSS Geometry E DGNSS SBAS MRU Geometry E Monitoring Points Geometry E Communication Interface Input Output Data Pool Connected to Seapath 330 M300 62 rev 2 Browse ss 1 Wizard mode 2 Orientation Config 1 3 Offset angles Step 2 Manual Select orientation of MRU axis relatively to vessel axis Connector direction R arrow direction O Down O Bow OUp O Starboard A OAft OPort OPort O Starboard Main rotation Roll 0 000 Pitch D 000 yaw 0 00015 Press Next to enter offset angles in the Auto Mount process Back Next Cancel Figure 39 Step 2 of Manual input of mounting angles 63 Seapath 320 4 At the top right of Figure 40 the main rotation angles of the MRU are displayed Enter the offset angles for Roll Pitch and Yaw from the main rotation angles Press the Help button to get more help on the sign of the offset angles A positive offset angle rotation is Positive roll offset means starboard right side facing downward or a clockwise rotation about the x axis Positive pitch offs
77. cessing Unit cable Wiring eese 22 Interfaces AM Uta 23 2 I3 T Pin lay e LEE 24 2 132 LED indic tors HMI Unit ege e HER 25 INSTALLATION ee ge 2 e LOBO E 27 Location of the system parts eee t erinnern a e i bene 21 EEN KEE 28 3 22 MRUD ever HERD Eer eer 29 3 2 3 Processing BT eee o b ottenuto dette beste cede ini 30 ES NIS EK Uri RC 30 LO eut 30 SUEVEY OL SENSORS OH Vessels cecus en tasti host va e 31 3 3 1 Vessel reference System aie asian len ee Ee E eu eine 31 M300 62 rev 2 Installation Manual 3 4 4 1 4 2 4 3 44 9 32 MRU as echt ette ete tette pete ttt ettet do Atte toutes 31 3 3 3 GNSS antennas cue oe eh deett te eo ette dom eoe deese 32 3 3 E a sae noter be en amen at ob tates tese telae re eite 32 3 3 5 SUEVEY aCCUEACY eet E Ro iei o ede fe e ie ee e tds 32 3 3 6 Cabinet M UntINB ar etr e teet eerie tage aee e eee ERER 33 Installation Oe 33 3 4 1 Mechanical installation cessere nene 33 3 4 2 Blectrical ainstallation e ie eet eter etc reete ttai USE FE EE 39 3 4 3 Setup of configuration D rameterg sees 42 344 Re te EE 43 CONFIGURATION aa een CIE ETH see see 51 System Confis ratl oN its 51 4 2 T System Modest ENEE ES eni e eet NEESS 51 NAVE Configuration e EE 52 Standard configuration ns nie ae Ba 52 4 4 1 Vessel configurations dd tees RR audis 54 4 4 2 GNSS Configuration cui Rege edere redi treo iced 58 K DGNNSS config
78. connected Operating temperature up to 55 C for 10 hours 8 M300 62 rev 2 Installation Manual 2 4 2 HMI Unit Enelosure material eiie abere ads Aluminium Operating temperature range a 15 C to 55 C Recommended operating temperature sess Room temperature 20 C Storage temperate eege Tubes Eire eler eege Eege 20 C to 70 C Operating e Ra qt Max 95 non condensing Storage humidity iia Less than 55 96 reese IP 42 Inpress protection TEAL NIT EL IP 21 2 4 3 Monitor 17 inch LCD Operating temperature Transen eg iist sere eiit 5 to 40 C REA A A aan 20 to 80 2 4 4 MRU Unit Enclos re material acu aee pred te le Anodised aluminium EREECHEN eenegen Eegeregie geed Es IP 66 Operating temperature range ann la 5 to 55 C Operating h midity EC eine Sealed no limit Storage temperature Tallge AA ERE eU Ee Cose n yis orto d tu uid ae Does 20 to 70 C STOTAS CE Human oe oor eo sent e etat t Sealed no limit Max allowed vibration operational 10 2000 Hz continuous 0 5 m s Max allowed vibration non operational 0 200 Hz continuous 20 m s Max shock non operational 10 ms peak eene 1000 m s 2 4 5 GNSS antenna Operating temperature Tange io eed 40 C to 85 C Ingress DFOUCCUQITL ET IP X6 and IP X7 Operating temperature up to 55 C for 10 hours M300 62 rev 2 9 Seapath 320
79. ct Y Configuration details Interface TelegramOut2 Description Host Out 2 Type Ethernet Y 1 0 Properties Local interface LAN1 192 168 4 10 X Protocol BROADCAST_TX IT IP address 255 255 255 255 Port 9016 Y Telegram out properties Monitoring point Interval s 1 00 Options m NMEA selection GGA GNS gt Datum woss4 gt Figure 51 Interface set to TelegramOut M300 62 rev 2 73 Seapath 320 The main purpose of the output telegram function is to enable the configuration of data messages transmitted to external equipment Up to 16 serial network interfaces may be set up Monitoring point Select among the list of monitoring point and click on the MP the measurements are to be output in Format The format of the output telegrams Select among the list of output formats Interval Seconds between messages being output Options From the Options drop down list specific telegram outputs are set The options are as described in Figure 52 Interface Telegr Output residuals on Ashtech RRE format GRS Send YHW message after YTG using ground speed from YTG Type Serial Output empty fields in HDT message even when accuracy is reduced Be Use inertial roll pitch and heave only Direction Out Use UTC time in ZDA message Disable additional GNS messages when diffcorr is used for both GPS and GLONASS Y 1 0 Properties Limi
80. e to the vertical axis of a vehicle Heading is not included If heading is included the word orientation is used for the vehicle The maximum width of the vessel at Main Deck level B mld Heading The direction of the main axis bow direction of the vehicle as opposed to course which is the direction of motion of the vehicle Yaw angle as defined here is the same as heading Heave The vertical dynamic motion of a vehicle and defined positive down Heave position and velocity are dynamic motion variables oscillation around a mean value typically zero Height The height in the Seapath 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 direction horizontally when the roll angle is zero Positive rotation about this axis is bow of the vehicle up Pitch A rotation about the pitch axis is positive when the bow moves up Normally pitch means the dynamic pitch angle motions R axis This axis is fixed in the vehicle and points in the forward direction horizontally when the pitch angle is zero Positive rotation about this axis is starboard side of the vehicle down Roll A rotation about the roll axis
81. e work under copyright law that is to say a work containing the Library or a portion of it either verbatim or with modifications and or translated straightforwardly into another language Hereinafter translation is included without limitation in the term modification Source code for a work means the preferred form of the work for making modifications to it For a library complete source code means all the source code for all modules it contains plus any associated interface definition files plus the scripts used to control compilation and installation of the library 126 M300 62 rev 2 Installation Manual Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running a program using the Library is not restricted and output from such a program is covered only if its contents constitute a work based on the Library independent of the use of the Library in a tool for writing it Whether that is true depends on what the Library does and what the program that uses the Library does 1 You may copy and distribute verbatim copies of the Library s complete source code as you receive it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and distribute a copy of this License along with t
82. eapath 320 3 4 46 In the Antenna configuration window input the Baseline length 2 5 metres if the standard Antenna Bracket is used otherwise this length has to be measured manually with 1 cm accuracy and this value entered For the Antenna orientation input an approximate value or input zero if you are uncertain For the Height difference input an approximate value Then click on the Calibration wizard button to prepare the calibration In the Antenna calibration wizard Page 1 Input Parameters Step 1 check that the baseline length has been entered correctly NavEngine Configuration 1 Input parameters 2 Processing 3 Data edit 4 Apply result The baseline length between the two GPS antennas to be measured within a tolerance of 1 centimeter or better Measured baseline length 2 500 m Standard Antenna Bracket 2 5 m Calibration baseline length accuracy 0 030 m The configuration will automatically start logging of the calibration data format on the client The message interval for the logging must be set so that random noise can be averaged over the calibration period A two hour logging period is recommended and a logging interval of 10 seconds is then adequate Calibration Period 120 min Default 120 min Message Interval 10 S Default 10 s Log Filename Seapath cal Browse Press Next to proceed with the calibration procedure The configuration will now enable
83. ear name of author This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA Also add information on how to contact you by electronic and paper mail Tf the program is interactive make it output a short notice like this when it starts in an interactive mode Gnomovision version 69 Copyright C year name of author Gnomovision comes with ABSOLUTELY NO WARRANTY for details type show w This is free software and you are welcome to redistribute it under certain conditions type show c for details The hypothetical commands show w and show c should show the appropriate parts of the General Public License Of course the commands you use may be called something other than show w and show c they could even be mouse clicks or menu items whatever suits your program You should also get your employer if you work as a programme
84. ed Tools Stripping Tool 74 2 0 9 15 see also 27345 Spanners AF 21 and 22 mm Metal Saw Knife Abrasive Paper 320 Ben tigte Hilfsmittel Abisolierwerkzeug 74 209 15 siehe auch 27345 Gabelschl ssel 21 und 22 min Metall S ge Messer Schleifpapier 320 Herramientas requeridas Fresador especial 74 Z 0 9 15 vaanse tambi n 27345 llaves de horquilla de 21 y 22 mm sierra para metal cuchilla pepel de lija 320 M300 62 rev 2 Required Tools Spanners AF 21 and 22 mm Metal Saw Knife Measure Abrasive Paper 320 File Ben tigte Hilfsmittel Gabelschl ssel 2 und 22 mm Metall S ge Messer Massstab Schleifpapier Feile Herramientas requeridas Llaves de horquilla de 21 y 22 mm sierra pera metal cuchilla regla graduada papel de lija 320 lima 109 Seapath 320 with mit con Be Cut the cable off square perpendicular to the cable axis 1 Das Kabel rechtwinklig abs gen Cortar el cable en ngulo recto without ohne sin TT Strip the cable with the stripping tool 74 2 09 15 as far as the stop 2 Kabel mit Abisolierwerkzeug 74 Z 0 9 15 bis zum Anschlag abisolieren Aislar el cable con el fresador 74 Z 0 9 15 hasta el tope Deburr outer concuctor carefully 3 Aussenleiter sorgf ltig entgraten Eliminar cuidadosamente las asperezas del conductor exterior IMPORTANT WICHTIG IMPORTANTE DAMAGED THREAD NS BESCH DIGTES GEWINDE RICHTIG ROSCA ESTROPEZADA CORRECTO
85. ee ter tighten the adapter to the udo mount 5 8 x 11 3 8 7 8 9 thread E d 3 8 7 8 9 22 mm 3 Remove the dust cap from the qe a t antenna s N Type connector Re dite Mount 4 Attach the male N Type connector of the coaxial cable to the antenna s N Type gt The metal adapter on the bottom of the antenna is fixed in place Do not attempt to remove it 5 Attach the end of the coaxial cable to the antenna input port of the receiving device AII t NovAtel GNSS receivers ot 2 S SS provide the necessary power TS N Type connector through their antenna RF TI b M connectors T T UU Coaxial cable M300 62 rev 2 115 Seapath 320 Antenna care The GPS 702 GG N is designed to withstand the elements including rain snow and dust However to ensure 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 116 M300 62 rev 2 Installation Manual APPENDIX D 12 COAX CABLE SPECIFICATION SCF12 50 Series 1 2 Superflexible Foam Coax panama APPLICATIONS SCF12 50J JFN ATTENUATION AND AV
86. eeds 6 2 2 7 Antenna Brackets out Ee bete es 7 2 2 8 GNSS antenna eet ad 7 2 2 9 Cabinet EE 7 Power A TH 7 2 3 1 Processing ET 7 2 9 2 HME Unit it tind aceasta ie eae nee iato EDEN 8 2 3 3 Monitor 7 inchi ECD insu ase 8 2 34 3M UM E TT Mewst amie a R ie faced e hed S eg 8 2 33 7GNSS antenfid epee RN 8 Environmental avion ln liada 8 2 421 Processing Unit 5t nett toi AE reeL t 8 E AMD Ud ree met etit rte p Nt a eaS 9 2 4 3 Monitor 17 mch E ei RW 9 ZAR MRU BR EE 9 245 J GNSS antenna dul oe pee ta d e obras 9 erer eu 10 2 5 1 Processing Unit ted HR et ae ree 10 2 9 2 AM nit c ette t ette o aA dmt S Hoe tton 10 23 3 MRU UNI eem et e b rude tt d eei bet e eet 10 M300 62 rev 2 IH Seapath 320 2 6 2 7 2 8 2 9 2 10 2 11 2 12 2 13 3 1 3 2 3 3 IV PO 1 E 10 XGI Processing Unit di a lt ol llas 10 Radio frequencies nilo wae 11 EE EE DE EE 11 212 GNSS TEC ii a Ei 11 Dati OU 11 2 8 1 AA Nee EEN ete EENS 11 Data IPS a das 12 2 9 1 Processing Unit lia lei dire e is 12 Compass sale EE 12 2 101 Processing Unit na ended EE 12 Cables iii RUE 12 ANS A i ER EE He FEET Pei s 12 2 11 2Processing Unit to MRU Junction Box cable A 12 2 11 3GNSS antenna cables Coax t sess sese eene ener ener enne 13 Interfaces Processmp BE 14 2 12 1 RS 422 A and B signal deh nOn sese eren 15 2 12 2Pim L t 15 2 12 3LED indicators Processing Unit eese rennen 21 2 12 4 MRU to Pro
87. egram timing The selections and parameters displayed in the Telegram timing view are shown in Figure 51 Y Telegram timing O Event driven O Timer driven Interval s 1 00 Figure 55 Telegram timing view 76 M300 62 rev 2 Installation Manual Event driven Outputs data only when the data are calculated or when a change occurs The output data are delayed when Event driven 1s selected Timer driven Output data with the selected time interval Interval Extrapolate Extrapolates the time to real time zero delay when Timing driven output is selected Interval The interval between each sample when Timing driven is selected Can be selected in the range 0 005 to 300 seconds 4 4 6 7 DGNSS link properties It is possible to define several correction links The links can be set up to decode RTCM CMR SeaSTAR HP XP G2 or AIS Up to 8 DGNSS links may be set up Y DGNSS link properties Format TEE oe Name RTK CMR Timeout s 60 Short range O 6 8 Le 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 0 Format The following formats are available RTCM CMR HP XP G2 and AIS
88. enna location Antenna configuratior From AP to antenna 1 Antenna type NOV702GG NONE x 74 65 m Y 300 m Z 3562 m Baseline length 2 50 m Antenna orientation 0 00 z Height difference 0 00 m Calibration wizard Connected to Seapath 330 Figure 33 GNSS sensor geometry configuration view 4 4 2 2 GNSS Processing For operations with weak satellite geometry the position output can be made more accurate by using height aiding and low elevation mask For normal operations the Height Aiding mode is set to Off but Filter is also recommended used The elevation mask is set to 10 degrees as the default value and must not be changed by other than experts For the Seapath 330 models the search mode for the RTK solution has three selections Safe Normal and Fast The default RTK search mode is Normal In order to change the default GNSS Processing settings proceed as follows Set the Seapath in Height Aiding mode by pulling down the Aid Mode drop down list 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 be changed by other than experts from the default value 10 Click the checkbox Enable range ra
89. essel i e from stern to bow m The overall width of the vessel m The distance from the highest point of the vessel to the keel m The distance from the aft point of the ship to its AP m M300 62 rev 2 Installation Manual In the Vessel shape section it is possible to select the vessel shape or to get the vessel shape from a file Vessel shape The vessel shapes supported are ship rig and jackup From file Input of vessel shape from file see separate section Vessel opacity A percentage scaling of the opacity of the vessel shape on the screen In the Navigation ref point NRP section the distance between AP and NRP is defined AP to NRP The distance from AP to NRP m The Navigation Reference Point location NRP is the reference point for all measurements in the system The recommended used NRP is the vessel CG or rotation centre 4 4 1 2 Vessel shape For later configuration of sensor and monitoring point locations on the vessel it is an advantage that the vessel is of the same shape as the vessel where the system is installed The background vessel is scaled on the screen to be equal to the installed vessel By moving the PC mouse around on the vessel the coordinates x y z will be shown in full scale For later configuration of sensors and 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 automaticall
90. et 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 NavEngine Configuration Apply Revert History El Vessel Geometry Description E Sensors p GNSS Step 2 Manual Geometry E DBNSS SBAS MRU Geometry E Monitoring Points Geometry El Communication Interface Input Dutput Data Pool 1 Wizard mode 2 Orientation 3 Offset angles The MRU Wizard has found the Main Rotation Angles to be Roll 1 000 Pitch 000 vaw o 0 Enter any offset angles to correct MRU bracket misalignment Heb Roll Pitch vaw i Computed Mounting Angles Roll 1 00015 Pitch jJ000 Yaw 0 000 Press Finish to exit the wizard Press Cancel to discard the wizard lt Back Finish Cancel Connected to Seapath 330 Figure 40 Step 3 of Manual input of MRU mounting angles 5 Press Finish to finish the manual setting of the MRU axis Note The new MRU mounting angles are only valid in this system after pressing the Apply button 64 M300 62 rev 2 Installation Manual 4 4 4 3 Heave configuration When using real time heave measurements it is important to tune the heave parameters heave period and damping to the vessel size and the motion characteristics for the actual weather conditions The default settings for filter mode heave period and damping
91. etween RS 422 and RS 232 must be made from the web browser Note The extended serial ports are not as accurate with regard to timing as Com 9 to 14 and are not recommended used for timing critical outputs 122 M300 62 rev 2 Installation Manual APPENDIX G FREE AND OPEN SOURCE SOFTWARE Some of the software components in this product are free and open source software released under the licenses shown below Source code for the relevant software components is available from Kongsberg Seatex AS Attn Customer support Pirsenteret N 7462 Trondheim Norway E mail km support seatex kongsberg com The navigation software is proprietary and no source code is available for it G 1 GNU General Public License GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 5 Franklin Street Fifth Floor Boston MA 02110 1301 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public License is intended to guarantee your freedom to share and change free software to make sure the software is free for all its users This General Public License applies to most of the Free Software Foundation s software and to any other program whose authors commit to using it Some other Free Software Founda
92. g portions of the Library and distribute that work under terms of your choice provided that the terms permit modification of the work for the customer s own use and reverse engineering for debugging such modifications You must give prominent notice with each copy of the work that the Library is used in it and that the Library and its use are covered by this License You must supply a copy of this License If the work during execution displays copyright notices you must include the copyright notice for the Library among them as well as a reference directing the user to the copy of this License Also you must do one of these things Accompany the work with the complete corresponding machine readable source code for the Library including whatever changes were used in the work which must be distributed under Sections 1 and 2 above and if the work is an executable linked with the Library with the complete machine readable work that uses the Library as object code and or source code so that the user can modify the Library and then relink to produce a modified executable containing the modified Library It is understood that the user who changes the contents of definitions files in the Library will not necessarily be able to recompile the application to use the modified definitions M300 62 rev 2 127 Seapath 320 Use a suitable shared library mechanism for linking with the Library A suitable mechanism is one that 1 uses at run time a cop
93. g the MRU bracket and the MRU near the user equipment for which attitude data is wanted or close to the selected Navigation Reference point e Mounting of the Processing Unit in a rack in the instrument room or bridge e Mounting of the HMI Unit in a rack in the instrument 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 with the opening pointing downward as shown in Figure 12 This will ensure easy and accurate orientation of the MRU according to the longitudinal axis Reserve sufficient space below the bracket to allow insertion of the MRU from below 36 M300 62 rev 2 Installation Manual Transversal bulkhead e Ka eg Longitudinal bulkhead Be l VR hs lt Longitudinal ship s axis 7 Te 22d a E d A a Figure 12 Recommended orientation of the MRU mounting bracket Mount the MRU bracket on the wall preferably with the opening pointing down as shown in 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 wa
94. guration manager 53 Seapath 320 4 4 1 Vessel configuration In the Vessel configuration the following can be input Geometry Description For later configuration of sensor and monitoring point locations on the vessel it is an advantage that the background vessel vessel shape is as equal as possible to the vessel on which the system is installed The background vessel is scaled on the screen to be equal to the installed vessel To scale the vessel shape on the screen to the actual vessel its dimensions have to be input 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 NavEngine Configuration 1 E Vessel Description E Sensors GNSS Geometry E DGNSS SBAS Ej MRU Geometry Monitoring Points Geometry E Communication Interface Input Output Data Pool History Tz NRP qe NRP T X 82 66 Y 0 00 Z 36 84 el dimension essel shape Navigati ef int NRP LOA 150 00 O Ship A AP to NRP x 70 69 Overall width 30 00 OFrom file Y 0 46 Overall height 40 00 essel opacit z 3 37 r1 Stern to AP 7 00 Fe Figure 28 Vessel geometry view In the Vessel dimension section it is possible to set the following parameters LOA Overall width Overall height Stern to AP 54 The overall length of the v
95. h 2 5 metre antenna baseline sess 0 075 RMS Heading accuracy with 4 metre antenna baseline sess 0 05 RMS Scale factor error in roll pitch and heading sees 0 08 RMS Heave accuracy real time output esses 5 cm or 5 whichever is highest Heave motion periods real time output eere 0 to 20 seconds Heave accuracy delayed signal PFreeHeave 3 cm or 3 whichever is highest Heave motion periods delayed signal Pfreeeave 0 to 50 seconds Position 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 eene M 0 15 m RMS or 0 35 m 95 CEP Velocity accurate 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 offsets and otherwise normal conditions Excessive multipath GNSS signal obstructions or interference may reduce the performance 2 2 Physical dimensions 2 2 1 Processing Unit His a 88 1 mm 2U A uie ni c tcm 485 mm 19 Depth se Min 325 mm excluding connectors on rear panel and max 412 mm T oboe usui delen A A aeud 5 4 kg CA e bad o e od as Front anodized natu
96. h by connecting a wire from the screw to an object that is connected to earth power XIN to MRU 4 LOND gna refaux tdig from MRU 27 SHUTOFF of MRU sign description signal description al RX to MRU 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 7 Connect the 110 230 V AC ship s power supply to the power connector at the rear of the Processing Unit 8 Connect the 110 230 V AC ship s power supply to the power connector at the rear of the HMI Unit 9 Connect the cable from the monitor PC mouse and the keyboard to the corresponding connectors at the rear of the HMI Unit 10 Connect the monitor for the HMI Unit to 110 230V AC ship power M300 62 rev 2 41 Seapath 320 11 Ifavailable connect the signal cables with DGNSS correction and external gyro compass to free terminals at the rear of the Processing Unit 12 Connect an Ethernet cable from the LAN port on the rear of the Processing Unit and the HMI Unit to the network onboard the vessel or a direct connection between the two units 13 When all cables are connected power on the Processing and HMI Units the four LED indicators located on the front panel of the Processing Unit should then start to shine red The LEDI light diode in the
97. h variables to be selected with positive gain 10 in order to achieve analog Hippy roll and pitch output The analog format Constant can be selected to test one of the analog channels 78 M300 62 rev 2 Installation Manual 4 4 7 Data pool Data pool is the distribution media for data from the NavEngine software to the operator software NavEngine Configuration Apply Revert History Vessel Geometry Description E Sensors Datapool name PU DPS4D B GNSS Geometry Network interface name LAN3 DHCP gt DGNSS SBAS UDP address 239 255 0 3 E MRU UDP port 31000 Geometry E Monitoring Points Geometry B Communication Interface Input Output Datapool ID DPS4D Figure 58 Data Pool configuration view Datapool ID Identification ID Own text may be inserted Datapool name Identification name Own text may be inserted Network interface name The LAN port on the Processing Unit UDP address The address the NavEngine should send data to UDP port 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 ToolsICopy Configuration will launch a tool that copies all relevant configuration information to an archive file compatible with e g WinZip T
98. have to be tuned for the actual vessel and weather conditions in order to achieve optimum heave performance Therefore before a survey and or during operation check the heave performance of the Seapath and tune the heave parameters until the best heave performance is achieved An alternative is to select Automatic and let Seapath automatically choose the best settings The following should be considered when selecting the different heave filter modes and parameters Filter mode e Automatic To be selected when the vessel is operating in various sea states or when the average heave period is unknown e General purpose Is selected when an optimal heave amplitude is to be measured and the heave phase is of no importance This mode is typically selected when the Seapath is to be used for measuring the heave height and period on oceanographic buoys e 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 e Anexpected average heave period has to be set to the heave filter This period can be determined by measuring the time between two wave tops by using a watch e The settling time for the heave measurements from power on or after a turn will be about 10 times the selected period To By selecting an unnecessary long heave
99. he Library You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Library or any portion of it thus forming a work based on the Library and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions The modified work must itself be a software library You must cause the files modified to carry prominent notices stating that you changed the files and the date of any change You must cause the whole of the work to be licensed at no charge to all third parties under the terms of this License If a facility in the modified Library refers to a function or a table of data to be supplied by an application program that uses the facility other than as an argument passed when the facility is invoked then you must make a good faith effort to ensure that in the event an application does not supply such function or table the facility still operates and performs whatever part of its purpose remains meaningful For example a function in a library to compute square roots has a purpose that is entirely well defined independent of the application Therefore Subsection 2d requires that any application supplied function or table used by this function must be optional if the application does not supply it the square root function must still compute square ro
100. he balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances 124 M300 62 rev 2 Installation Manual It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 8 If the distribution and or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the limitation as if written in the body of this License 9 The Free Software Foundation may publish revised and or new versions of the General Public License from time to
101. he configuration is copied into the indicated archive name As with the System Verification tool the Configuration Copier will create the archive in a hard disk folder or on an inserted USB memory stick if available M300 62 rev 2 79 Seapath 320 4 6 DPS 4D Configuration Copier Information to copy M Operator SW configuration M User registry settings A NavEngine configuration M System registry settings Vessel name Hanne Knutsen Serial number HWP1234 Target folder LADPS4D Configuration Archive name Config Hanne Knutsen DPS4D HWP1234 200891211 zip O Allow archive name editing Start Figure 59 Configuration Copier SRRD update When the installation has been verified we recommend performing an SRRD Seatex Rescue and Restore Disk update An SRRD USB stick is delivered with your system The stick contains a full image of the installed HMI Unit Follow the procedure below 1 2 GO N Ch tan A Q 10 11 80 Reboot the HMI Unit Press F8 repeatedly during the boot sequence In the menu that appears select Return to OS Choices menu and press the Enter key Select Seatex Rescue and Restore and press Enter Enter stx as password Wait until the menu appears Plug in the USB stick delivered with the system Wait about 5 seconds and then select Refresh menu The menu choice Create a System Rescue and Restore Disk should now appear If not repeat the above s
102. hile Ubuntu will not charge license fees for this distribution you might well want to charge to print Ubuntu CD s or create your own customized versions of Ubuntu which you sell and should have the freedom to do so Must not require royalty payments or any other fee for redistribution or modification It s important that you can exercise your rights to this software without having to pay for 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 group of users and cannot restrict users from using the software for a particular field of endeavour a business for example Thus we will not distribute software that is licensed freely for non commercial use Must not be distributed under a license specific to Ubuntu The rights attached to the software must not depend on the programme s being part of Ubuntu system So we will not distribute software for which Ubuntu has a special exemption or right and we will not put our own software into Ubuntu and then refuse you the right to pass it on Must not contaminate other software licenses The license must not place restrictions on other software that is
103. icted and the output from the Program is covered only if its contents constitute a work based on the Program independent of having been made by running the Program Whether that is true depends on what the Program does 1 You may copy and distribute verbatim copies of the Program s source code as you receive it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and give any other recipients of the Program a copy of this License along with the Program You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Program or any portion of it thus forming a work based on the Program and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change You must cause any work that you distribute or publish that in whole or in part contains or is derived from the Program or any part thereof to be licensed as a whole at no charge to all third parties under the terms of this License Tf the modified program normally reads commands interactively when run
104. ill 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 measured or calculated based upon drawings or previously measured points and entered into the software Look at the sketch of the MRU geometry on the screen in order to enter correct signs on the co ordinates Check also that the MRU has been located on the expected spot in the vessel shape If not check the signs and the co ordinates input for the MRU the vessel dimension and the entered location of AP M300 62 rev 2 61 Seapath 320 The MRU mounting angles can either be input manually or determined by use of the Mounting Wizard To use the MRU Mounting Wizard see separate section in this manual NavEngine Configuration Apply Revert History E Vessel Geometry Description 2 Sensors E GNSS T Geometry r u E DGNSS SBAS E MRU Geometry A Monitoring Points r Geometry E Communication Interface X 79 89 Y 10 90 Z 5 41 Input Output Data Pool MRU location Position in reference to AP x 55 00 m v oom z 500m MRU mounting angles Enter the angles directly in the fields below Mounting angles Roll 0 0001 Piten 0 0
105. in x z m 0 00 3 55 2 44 3 19 3 69 0 00 98 60 0 00 101 00 0 14 105 20 1 12 108 36 2 70 110 09 4 51 110 35 5 20 110 40 5 43 110 40 5 69 63 10 24 00 63 10 21 00 59 62 21 00 59 62 15 13 57 87 12 00 50 50 12 00 49 65 10 50 4 25 10 50 2 31 12 00 7 00 12 00 7 00 8 00 4 00 4 11 0 00 3 55 Top view coordinates in X Y m 7 00 0 00 7 00 11 50 90 30 11 50 113 60 0 57 113 70 0 00 Figure 30 Example of vessel shape in user text file 56 M300 62 rev 2 Installation Manual NavEngine Configuration History El Vessel Description EX Sensors Ej GNSS Geometry Ei DGNSS SBAS E MRU Geometry E Monitoring Points Geometry E Communication Interface Input Output Data Pool INRP Z Keel X 5 m INRP CL X 0 00 Y 0 00 Z 0 00 essel dimension Vessel shape Navigation ref point NRP LOA 120 70 Olship z AP to NRP x 53 00 Overall width 23 00 O From file Browse y 0 00 Overall height 32 20 Vessel opacity 2 8 00 Stern to AP 700 Figure 31 Example vessel shown in Vessel Geometry view 4 4 1 3 Vessel description The Vessel Description view contains mostly textual information regarding the vessel E Vessel Geometry Description E Sensors GNSS Geometry E DGNSS SBAS B MRU Vessel name Vessel owner Country of origin MMSI IMO Number
106. ing notices to the library It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty and each file should have at least the copyright line and a pointer to where the full notice is found one line to give the library s name and a brief idea of what it does Copyright C year name of author This library is free software you can redistribute it and or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation either version 2 1 of the License or at your option any later version This library is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU Lesser General Public License for more details You should have received a copy of the GNU Lesser General Public License along with this library if not write to the Free Software Foundation Inc 5 Franklin Street Fifth Floor Boston MA 02110 1301 USA Also add information on how to contact you by electronic and paper mail You should also get your employer if you work as a programmer or your school if any to sign a copyright disclaimer for the library if necessary Here is a sample alter the names Yoyodyne Inc hereby disclaims all copyright interest in the library Prob a library for tweaking knobs written by James Random Hacker signature
107. ion and or other materials provided with the distribution 3 All advertising materials mentioning features or use of this software must display the following acknowledgment This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit http www openssl org 4 The names OpenSSL Toolkit and OpenSSL Project must not be used to endorse or promote products derived from this software without prior written permission For written permission please contact openssl core Q openssl org 5 Products derived from this software may not be called OpenSSL nor may OpenSSL appear in their names without prior written permission of the OpenSSL Project 6 Redistributions of any form whatsoever must retain the following acknowledgment This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit http www openssl org THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT AS IS AND ANY EXPRESSED OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE OpenSSL PROJECT OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT
108. ion If the Format is set to NMEA this option is enabled From 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 nput Output list Interface Type Direction 120 Properties Description Q TelegramDut3 Serial Dut COMS 38400 n 8 1 1s 232 Logge PC m Q TelegramDut4 Ethernet Out UDP LAN1 13005 MULTICAST Lab test Oe DTM Datum reference a GBS GNSS Satelite fault description Warning Conflict v GGA Global positioning system fix data Y Configuration detail GLL Geographic position Latitude Longitude EET GNS GNSS Fix m Telegr GRS GNSS range residuals A GSA GNSS DOP and active satelites Type Berai GST GNSS Pseudo range error statistics Direction Out GSV GNSS Satelites in view RMC Recommended minimum specific GNSS data E E ZDA Time date string Y 1 0 Properties VTG Course over ground and ground speed Port COMS VBW Dual groundwater speed K Detail P20 Seatex proprietary format 1 EEG P21 Seatex proprietary format 2 V Telegram out propd P22 Seatex proprietary format 3 pi Monitoring point P23 Seatex proprietary format 4 P24 Seatex proprietary format 5 Options ROT Rate ofturn a 3 HDT Heading True NMEA talker ID ALL All avaliable messages Y NMEA selection GGA Y Telegram timing Event driven O Timer driven Interval s 1 00 Figure 53 Available NMEA telegrams Datum It is po
109. ion has been determined to be 15 3 degrees the Seapath heading offset to be input in operator software is the value 16 8 32 1 15 3 44 M300 62 rev 2 Installation Manual 3 4 4 2 Typical calibration procedure This is an example on how to perform a GNSS antenna calibration Proceed as follows 1 Before entering the calibration wizard ensure that the correct MRU mounting angles 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 GNSS Geometry as shown in the figure below NavEngine Configuration Apply History E Vessel Geometry Description E Sensors E GNSS Geometry Processing Attitude Processing E DGNSS SBAS MRU Geometry Heave config E Monitoring Points Geometry Communication Interface Input Output Data Pool M300 62 rev 2 Te Antenna location From AP to antenna 1 x 74850 m Y Antenna type 3 00p m z 35 620 m Baseline length Heading offset Height difference KB X 74 70 Y 15 58 Z 35 77 tion NOV702GG NONE L 2 500 m 0 000 0 000 m Calibration wizard 45 S
110. lable to the host system 5 Mount the junction box on the wall in a suitable location within the length of the 3 metre MRU E CS1 cable as shown in Figure 15 MRU junction box mounting 38 M300 62 rev 2 Installation Manual The screws for mounting the junction box should be secured with washers or self locking nuts SEATEX NORWAY BA A I Figure 15 MRU junction box mounting Mount the Processing Unit in a standard 19 inch rack in a preferred location The Processing 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 Mount the HMI Unit in a standard 19 inch rack in a preferred location 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 Processing and the HMI Unit Connecting the monitor
111. lkcrc unsigned char bufptr message buffer unsigned long len number of bytes unsigned char i unsigned short data unsigned short crc Oxffff if len OL return crc do for i 0 data unsigned short 0xff amp bufptr i lt 8 i data gt gt 1 if crc amp 0x0001 data amp 0x0001 crc crc gt gt 1 POLY else cre gt gt 1 while 1en M300 62 rev 2 107 Seapath 320 cre crc data crc cre cre lt lt 8 data gt gt 8 amp Oxff return crc Fortran code SUBROUTINE blkcrc inbuffer len crc INTEGER 2 len i bit INTEGER 4 crc data poly CHARACTER inbuffer poly 16 8408 crc 16 FFFF data 0 IF len EQ 0 THEN END IF DO i 1 len data ICHAR inbuffer i i DO bit 1 8 data IAND data 16 FF IF IAND crc 16401 EQ IAND data 16401 THEN crc ISHL crc 1 ELSE crc ISHL crc 1 crc IEOR crc poly END IF data ISHL data 1 END DO data IEOR crc 164FFFF crc IOR ISHL data 8 IAND ISHL data 8 16 FF 108 M300 62 rev 2 Installation Manual APPENDIX B INSTALLATION OF COAX CONNECTORS ON SUPERFLEX CABLE The connector consists of two parts the connector head and the cable entry Do not open Bitte nicht ffnen No abrir por favor ohne without sin GC Requir
112. ll Drill two holes for the lower screws 2 and insert and securely tighten all three screws using washers or self locking nuts T cae Le rn Figure 13 Wall mounting of bracket with MRU connector pointing down M300 62 rev 2 37 Seapath 320 3 Insert the MRU into the bracket In order to achieve the orientation as shown in Figure 12 the MRU must be rotated in the bracket Apply Loctite 242 glue or equivalent on the four MRU screws 3 Note The MRU R arrow must always point in the bow direction unless the default mounting orientation of the unit is modified in the MRU configuration 4 Apply the sticker 4 onto the bracket according to the actual mounting direction of the MRU as shown in Figure 14 In this way the actual mounting direction is identified in case 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 MRU and check that the R arrow label is pointing in the bow direction Precise MRU orientation is important to ensure that high quality and accurate measurements are avai
113. ll its users This license the Lesser General Public License applies to some specially designated software packages typically libraries of the Free Software Foundation and other authors who decide to use it You can use it too but we suggest you first think carefully about whether this license or the ordinary General Public License is the better strategy to use in any particular case based on the explanations below When we speak of free software we are referring to freedom of use not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if you wish that you receive source code or can get it if you want it that you can change the software and use pieces of it in new free programs and that you are informed that you can do these things To protect your rights we need to make restrictions that forbid distributors to deny you these rights or to ask you to surrender these rights These restrictions translate to certain responsibilities for you if you distribute copies of the library or if you modify it For example if you distribute copies of the library whether gratis or for a fee you must give the recipients all the rights that we gave you You must make sure that they too receive or can get the source code If you link other code with the library you must provide complete object files to the recipients so that they can relink them with the lib
114. 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 shape correspond with the actual orientation in the mast See the chapter Calibration for description on how to use the Calibration wizard Note Correct selection of antenna type is only important when raw GNSS data are output from the Seapath for post processing of the position accuracy The selection GENERIC as antanna type is used for all single frequency antennas L1 and for Seapath installations that shall not use RTCM output for post processing If other antennas than those listed are used check the following link to find the correct antenna type ftp igscb jpl nasa gov igscb station general rcvr_ant tab Other antenna types than those listed are input in the Seapath configuration by using the Advanced option in NavEngine configuration on the System menu 58 M300 62 rev 2 Installation Manual NavEngine Configuration History E Vessel n Geometry die Description Sensors Ej GNSS Geometry Processing Altitude Processing Ej DGNSS T SBAS E MARU Geometry Heave config E Monitoring Points db Geometry r x E Communication Interface Y Input Output Data Pool X 32 42 Y 16 28 Z 0 00 Ant
115. mitation as if written in the body of this License 13 The Free Software Foundation may publish revised and or new versions of the Lesser General Public License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the Library specifies a version number of this License which applies to it and any later version you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Library does not specify a license version number you may choose any version ever published by the Free Software Foundation 14 If you wish to incorporate parts of the Library into other free programs whose distribution conditions are incompatible with these write to the author to ask for permission For software which is copyrighted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally NO WARRANTY 15 BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE THERE IS NO WARRANTY FOR THE LIBRARY TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND OR OTHER PAR
116. n 42 M300 62 rev 2 Installation Manual measuremenz pont K rm gt co De MRU BR X Ss im NRP 1 NMRU Arm OO A M Aw u A rigir IP ARM 2 er equipment and N Y gt 00 Figure l6 Offset vectors between the different components 3 4 3 2 Setup procedure 1 Power on both the Processing and HMI Units and follow the configuration procedure for the operator software described in chapter 4 1 2 Edit the Seapath parameters and Apply in order to download the entered configuration parameters to the Processing Unit For more description of each of the configuration parameter selections see chapter 4 4 3 4 4 Calibration The system has to be calibrated on board the vessel after installation A typical calibration consists of e Calibrating the direction of GNSS antennas against an external reference Type of reference must be decided according to the required accuracy e 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 required 3 4 4 1 Calibration of the GNSS antenna installation For the GNSS antenna installation the following calibration parameters have to be determined e Baseline Length The baseline length between the two antennas is measu
117. n means you cannot use both them and the Library together in an executable that you distribute 7 You may place library facilities that are a work based on the Library side by side in a single library together with other library facilities not covered by this License and distribute such a combined library provided that the separate distribution of the work based on the Library and of the other library facilities is otherwise permitted and provided that you do these two things a Accompany the combined library with a copy of the same work based on the Library uncombined with any other library facilities This must be distributed under the terms of the Sections above b Give prominent notice with the combined library of the fact that part of it is a work based on the Library and explaining where to find the accompanying uncombined form of the same work 8 You may not copy modify sublicense link with or distribute the Library except as expressly provided under this License Any attempt otherwise to copy modify sublicense link with or distribute the Library is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 9 You are not required to accept this License since you have not signed it However nothing else grants you permission to modify or distribu
118. n the roll angle where M300 62 rev 2 99 Seapath 320 roll echo sounder arcsin incon rue COSL Dich A 6 RDI ADCP format 10 The RDI format is a proprietary ASCII text format used when connecting RDI ADCP equipment Format PRDID pitch roll head term Explanation pitch Pitch degrees on format sddd dd s is the sign character or ddd dd is a decimal number with leading zeroes where appropriate Positive with bow up roll Roll degrees on format sddd dd s is the sign character or ddd dd is a decimal number with leading zeroes where appropriate Positive with port side 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 of bytes is 42 Format Header asch a Sason Time fraction of second 0 01 second Umsigned 1 o 9 2 90 degrees nee centimetros meger 4 Hewe centimewes meger 2 North velocity centimetres second ee Mee Ct 100 M300 62 rev 2 Installation Manual East velocity cenmtimetresisecond Ines 2 Down velocity cemimeressecond Ines 2 2 90 degrees 90 degrees
119. nalog output channels are available on the Analog Out 10 pin terminal The variables available for analog output are roll pitch heave and Datawell Hippy compatible roll and pitch signals The selection of variable and channel properties is performed in the operator software The pin wiring for the analog outputs is as follows GND Isolated DAC Analog Out Ch2 N 10 GND Isolated DAC GND Isolated DAC Analog Out Ch2 P 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 is used to make the wiring easier The pin wiring for the MRU port is as follows Pinno Signal Ei NC TX_A M300 62 rev 2 19 Seapath 320 Pinmo Signal ls a Ld RB Table 9 Pin layout of MRU IMU The IMU terminal is not in use in this product Analog in This terminal is not in use in this product Ethernet connection The Processing Unit has the possibility to input and output data on individually configurable network ports The format and update rate are configured for each port in the NavEngine Configuration view The Processing Unit has the following LAN and connection possibilities e LAN 1 in the front This is primarily a service 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 connecto
120. nd a LAN port are situated at the front together with the power switch Connected to RJ 45 User configurable USB 1 User configurable USB 2 User configurable Psi M300 62 rev 2 23 Seapath 320 Connected to UN PS 2 Keyboard HD15 female Monitor 100 240 V AC Input of 100 240 V AC Table 13 Connectors at rear of HMI Unit Connected to User configurable Table 14 Connectors at front of HMI Unit 2 13 1 Pin layout 2 13 1 1 Ethernet connection The HMI Unit has one LAN port at the rear This 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 TP cable Straight through Table 15 Pin layout for HMI Unit Ethernet ports The pins 4 5 7 and 8 are not used 24 M300 62 rev 2 Installation Manual To connect the HMI 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 of up to 1000 Mbps 1
121. ndard NMEA format from Seapath The main differences are lower resolution and no checksum When heading is output to devices which are compliant to the NMEA specification 1 it is recommended to use the standard NMEA format and not the Lehmkuhl format A 9 1PPS time tag NMEA ZDA message This 1PPS time tag message is output once per second approximately 0 5 seconds before the time pulse The message format is ASCII text using 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 Year on format yyyy csum Checksum exclusive or of all characters between but not including the preceding and hexadecimal 00 FF term CR LF two bytes values 13 and 10 This format is recommended used together with 1PPS signal output on the BNC connector at the rear of the Processing Unit This since the message is output synchronised with the 1PPS signal and is easier faster to decode than the standard NMEA output with a number of NMEA messages included 102 M300 62 rev 2 Installation Manual A 10 1PPS time tag Trimble compatible This 1PPS time tag message is
122. ng 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 Parity None Odd or Even Data bits 6 7 or 8 Stop bits l or 2 4 4 6 3 2 Ethernet interface The network parameters section specifies how the Processing Unit communicates via the IP network The default view for the net interface properties is shown in Figure 50 below 72 M300 62 rev 2 Installation Manual Y UO Properties Local interface LAN1 192 168 4 10 Protocol BROADCAST_TX IP address 255 255 255 255 Port 016 Figure 50 I O properties view when net interface is selected The VO Properties view when Net interface is selected contains the following parameters Local interface The LAN port 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 Input Output list Interface Type Direction 1 0 Properties Description Q TelegramOut2 Ethemet Out BROADCAST TX LAN1 255 255 255 Host Out 2 OO TelegramOut3 Serial Dut NONE Telegram Out 3 OO TelegramOut4 Serial Dut NONE Telegram Out 4 v Q Disabled Y OK Warning Q Confli
123. nsors E GNSS Geometry E DGNSS SBAS E MRU Geometry E Monitoring Points Geometry E Communication Interface Input Output Data Pool Connected to Seapath 330 History eX omen Moonpool A T 5 T Moonpool ren X S S BA Show sensors X 100 28 Y 0 10 Z 31 63 Name Position m Crane tip HiPap Moonpool 16 70 8384 42 20 16 12 1 87 0 34 25 69 2 39 10 71 Figure 43 Add a new monitoring point Figure 44 illustrates that a new monitoring point MP4 has been added to the list of monitoring points 68 M300 62 rev 2 Installation Manual NavEngine Configuration Apply Revet Wion E Vessel Geometry e X Description P E Sensors 9 den GNSS f l os Geometry Crane tip d ZS Er DGNSS J SBAS PL T ET E MRU q A Moonpool 5 Geometry pe rae Keel EX Monitoring Points HiPap Geometry E Communication Interface Input Output Data Pool A im X po Y 3 7225 tip CL rane tip X 170 29 Y 6 64 Z 31 25 HiPap 83 84 1 87 2 39 Moonpool 42 20 0 34 10 71 MP4 100 28 0 10 31 25 Connected to Seapath 330 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 NavEngine Configuration Boy Revet Hity EI Vessel e 56 Geometry Description B Sensors E GNSS Geometry Crane tip
124. ocessing Unit can be mounted on the bridge or in the instrument room The HMI Unit the monitor is typically mounted on the bridge Special tools required None 3 2 Location of the system parts The following sections contain instructions regarding mounting of the various system parts M300 62 rev 2 27 Seapath 320 L ISS Antenna Bracket mounted on top of vessel mast Figure 7 Location of system parts 3 2 1 GNSS antennas For the GNSS antennas consider the following e The space above the antennas has to be free of obstructions of any kind The antenna should be protected from direct illumination of radar beams and other transmitting antennas such as Inmarsat antennas Seapath is more sensitive to blocking and reflections multipath of GNSS signals than GNSS sensors 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 e In order to reduce problems due to multipath effects the GNSS antennas have to be mounted above the nearest deck at a height which is equal to the width of this deck or higher e The Antenna Bracket has to be mounted in such a way that
125. on a panel M300 62 rev 2 121 Seapath 320 F 2 Electrical installation Connect the serial port extender to the network used for communication between LAN 2 on the Processing Unit and LAN on the HMI Unit The 5650I 8 DT has an internal Ethernet switch with two external ports which is sufficient for a network containing only these three devices Connect 24 V DC power to the serial port extender Connect power to the Ethernet switch if applicable F 3 Configuration Choose a free IP address on the network for the serial port extender On the front panel select Main Menu Network setting IP address and enter the chosen IP address Select Main Menu Network setting Netmask and change the subnet mask if necessary Select 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 select Root Communication SerialPortExtender Set IpAddress to the chosen IP address Set NoPorts to the number of serial ports connected 8 Set Type to 1 Restart the Processing Unit After restart the serial ports are available in the NavEngine communications configuration Change of interface type b
126. on of the various parts is performed in the following steps 1 First the user has to make a holder for the Antenna Bracket the holder is not part of the Seapath delivery and have it properly fastened to the mast in the preferred orientation horizontal or vertical When the Antenna Bracket is mounted vertically the drawings in Figure 8 Figure 9 and Figure 10 are not correct EXE cou md 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 antennas on the Bracket with both antennas oriented in the same direction Depending on antenna type labelling on the antenna housing arrow or text or connector location is used to determine direction Figure 9 shows the antennas oriented with connectors pointing in the same direction The antennas are not marked and are interchangeable but called no 1 or 2 for reference The normal orientation of the Antenna Bracket is along ship with antenna no 1 aft It can however be mounted in any orientation provided it is approximately horizontal 34 M300 62 rev 2 Installation Manual Note Both GNSS antennas have to be mounted on the Bracket oriented in the same direction otherwise the system will have degraded heading performance OR Antenna 2 1 A N pA
127. on with least linear acceleration and hence the best location for measurements of roll and pitch Centre Line Is the longitudinal axis along the center of the ship European Geostationary Navigation Overlay System SBAS Global Positioning System The time in the GPS system The GPS time is within UTC time 180 nsec 95 per cent plus leap second M300 62 rev 2 XI Seapath 320 MRU 5 Motion Reference Unit model 5 This is the IMU within the Seapath measuring dynamic linear motion and attitude A MRU consists of gyros and accelerometers NMEA National Marine Electronics Association NMEA 0183 is a standard for interchange of information between navigation equipment Navigation Reference Point The reference point for all measurements in Seapath The recommended used NR is the vessel CG or rotation center PGND IPS sd One Pulse Per Second KRN Pseudorandom Noise NRP PPS PRN RMS RTCM sT sw UTC UTM WAAS Universal Time Co ordinated This is the official time in the world and has replaced GMT Greenwich Mean Time as the official time XII M300 62 rev 2 Installation Manual Terminology Alignment Is the process of adjusting the current internal navigation frame in the instrument to the true external frame Antenna bracket Is the arrangement for mounting the GPS antennas Antenna holder Is the arrangement on board the vessel for mounting the antenna bracket to Attitude The orientation relativ
128. otential negative consequences for the environment and human health It is a precondition 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 Until further notice is given regarding reuse disassembly or disposal the equipment at end of life could be returned to Kongsberg Seatex AS if there is no local WEEE collection The equipment is marked with this pictogram Restrictions in export Export of the MRU 5 component within the Seapath product 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 from your country Restrictions in guarantee The liability of Kongsberg Seatex is limited to repair of the Seapath system only under the given terms and conditions stated in the sales documents Consequential damages such as customer s loss of profit or damage to other systems traceable back to Seapath malfunction are excluded The warranty does not cover malfunctions of the Seapath resulting from the following conditions The MRU is not shi
129. ots These requirements apply to the modified work as a whole If identifiable sections of that work are not derived from the Library and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Library the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of this section to claim rights or contest your rights to work written entirely by you rather the intent is to exercise the right to control the distribution of derivative or collective works based on the Library In addition mere aggregation of another work not based on the Library with the Library or with a work based on the Library on a volume of a storage or distribution medium does not bring the other work under the scope of this License 3 You may opt to apply the terms of the ordinary GNU General Public License instead of this License to a given copy of the Library To do this you must alter all the notices that refer to this License so that they refer to the ordinary GNU General Public License version 2 instead of to this License If a newer version than version 2 of the ordinary GNU General Public License
130. ow that what they have is not the original so that any problems introduced by others will not reflect on the original authors reputations Finally any free program is threatened constantly by software patents We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses in effect making the program proprietary To prevent this we have made it clear that any patent must be licensed for everyone s free use or not licensed at all The precise terms and conditions for copying distribution and modification follow GNU GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION M300 62 rev 2 123 Seapath 320 0 This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License The Program below refers to any such program or work and a work based on the Program means either the Program or any derivative work under copyright law that is to say a work containing the Program or a portion of it either verbatim or with modifications and or translated into another language Hereinafter translation is included without limitation in the term modification Each licensee is addressed as you Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running the Program is not restr
131. pped in the original transport box The MRU has been exposed to extreme shock and vibrations The MRU housing has been opened by the customer in an attempt to carry out repair work 4 Over voltage or incorrect power connection Shorting of GNSS antenna cable during operation of the Seapath systems M300 62 rev 2 XV Seapath 320 Restrictions in use The Seapath function is based on GNSS signals and requires free sight 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 s 43g and an angular rate range less than 150 s Only relative dynamic heave position is calculated XVI M300 62 rev 2 Installation Manual 1 PRODUCT DESCRIPTION This manual describes a typical survey installation of the Seapath 320 system on a vessel For all other information about the Seapath please consult the User Manual reference 1 1 1 Purpose and application Seapath 320 combines the latest achievements in advanced GPS and GLONASS technology aided by a high performance IMU Inertial Measurement Unit The integration of GPS GLONASS and an IMU is ideal due to the combination of complementary physical qualities into a tightly integrated solution 1 2 System components The system is supplied with the following parts e Seapath 320 Processing Unit including processing sof
132. r or your school if any to sign a copyright disclaimer for the program if necessary Here is a sample alter the names Yoyodyne Inc hereby disclaims all copyright interest in the program Gnomovision which makes passes at compilers written by James Hacker signature of Ty Coon 1 April 1989 Ty Coon President of Vice This General Public License does not permit incorporating your program into proprietary programs If your program is a subroutine library you may consider it more useful to permit linking proprietary applications with the library If this is what you want to do use the GNU Lesser General Public License instead of this License M300 62 rev 2 125 Seapath 320 G 2 GNU Lesser General Public License GNU LESSER GENERAL PUBLIC LICENSE Version 2 1 February 1999 Copyright C 1991 1999 Free Software Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed This is the first released version of the Lesser GPL It also counts as the successor of the GNU Library Public License version 2 hence the version number 2 1 Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public Licenses are intended to guarantee your freedom to share and change free software to make sure the software is free for a
133. r these parameters are only to be changed if the vessel has an unusual characteristic NavEngine Configuration History El Vessel GNSS attitude process ttings Geometry Max pitch and roll angles 15 000 default 15 000 Description E Sensors Average pitch and roll angles 7 000 default 7 000 GNSS Geometry Processing E DGNSS SBAS E MARU Geometry Heave config E Monitoring Points Geometry E Communication Interface Input Output Data Pool Figure 35 GNSS Attitude Processing view 60 M300 62 rev 2 Installation Manual 4 4 3 DGNSS configuration 4 4 3 1 SBAS tracking In the SBAS tracking view NavEngine Configuration it is possible to set up History Automatic or Manual E Vossel SBAS tracking tracking of SBAS satellites eed Enabled When Automatic tracking is E Sensors E GNSS O Manual selected the GNSS receiver Beomelty EGNOS 170 chooses which SBAS E EN Y 124 satellites to track wm sla eometty In Manual mode the user 7 palo waas 7155 must set up which SBAS Communication Interface 138 satellites to use If two Mr da SBAS satellites are selected the system will MSAS E automatically select and use data from the best satellite If only one SBAS satellite WET is selected only correction 128 data from this satellite will be used in the computations Figure 36 SBAS tracking view If no specific SBAS satellite is selected the system w
134. ral 2 2 2 HMI Unit HE AAA AA ead S 43 65 mm 1U Mill iia 485 mm 19 M300 62 rev 2 5 Seapath 320 Depth sisina Min 325 mm excluding connectors on rear panel and max 405 mm br 1 nisas ccasieoechint aa ctatvenmcuuassaccantiectihtel ss ctanasmatnas wa sco Ceommahcat aetaseacacutiuectates cekdet acs 3 8 kg ovi MEET iia ated Front anodized natural 2 2 3 Monitor 17 inch LCD A EN Samsung SyncMaster 710n MIR ee 380 mm A net E E 383 mm DI li TOS 170 mm Welt ile 3 8 kg Colour a Black and silver Typen AAA bei MRU 5 Here CC na MS 204 mm 8 032 IR L te iot ette uti ett t eoe 105 mm 4 134 be HU TO 2 5 kg luese dle Blue E 7 TS T tain rad eed deudas Souriau 851 36RG 16 26S50 MIL spec 2 2 5 MRU Wall Mounting Bracket jb eC MRU M MB3 Length EE 265 mm Lodi p M C E 119 mm STT eer 119 mm Welt A Oo ea 1 6 kg deje d cc DR MU RUE MM Black Ee mr Rc UA PRA POM H TP egene MRU E JB1 EE EE 226 mm o e dd e den od os 126 mm lb ado 90 mm 6 M300 62 rev 2 Installation Manual O do tastes bd 2 0 kg COM A ta Black Material und iia lia Aluminium Enclosure Protections ee IP 65 2 2 7 Antenna Bracket Typen EE M320 21 JEEP RET 2560 mm WV CUED Ma MERE 75 mm PASTS mutans 40 mm WY SVE cken len se 6 6kg CPU ee ee Grey RAL 7035 2 2 8 GNSS antenna Ee Novatel GPS 702 GG E edo dde e en ese da tes 69 1 mm RE ag 185 mm bue
135. rary after making changes to the library and recompiling it And you must show them these terms so they know their rights We protect your rights with a two step method 1 we copyright the library and 2 we offer you this license which gives you legal permission to copy distribute and or modify the library To protect each distributor we want to make it very clear that there is no warranty for the free library Also if the library is modified by someone else and passed on the recipients should know that what they have is not the original version so that the original author s reputation will not be affected by problems that might be introduced by others Finally software patents pose a constant threat to the existence of any free program We wish to make sure that a company cannot effectively restrict the users of a free program by obtaining a restrictive license from a patent holder Therefore we insist that any patent license obtained for a version of the library must be consistent with the full freedom of use specified in this license Most GNU software including some libraries is covered by the ordinary GNU General Public License This license the GNU Lesser General Public License applies to certain designated libraries and is quite different 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 whe
136. re 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 at http www wu ftpd org license html 4 All advertising materials mentioning features or use of this software must display the following acknowledgement This product includes software developed by the WU FTPD Development Group the Washington University at Saint Louis Berkeley Software Design Inc and their contributors 5 Neither the name of the WU FTPD Development Group nor the names of any copyright holders nor the names of any contributors may be used to endorse or promote products derived from this software without specific prior written permission The names wuftpd and wu ftpd are trademarks of the WU FTPD Development Group and the Washington University at Saint Louis 6 Disclaimer Limitation of Liability THIS SOFTWARE IS PROVIDED BY THE WU FTPD DEVELOPMENT GROUP THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE WU FTPD DEVELOPMENT GROUP THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFI
137. red in metres The length can be selected in the range 0 2 to 6 0 metres but the recommended antenna baseline length range is 2 5 to 4 0 meters M300 62 rev 2 43 Seapath 320 e Heading Offset The direction of the GNSS antennas relative to the vessel s longitudinal axis is measured in degrees e Height Difference The height difference between the two antennas according to the vessel horizontal plane the height to antenna 1 minus the height to antenna 2 compensated for vessel roll and pitch is measured in metres This is an absolute value always positive It is of crucial importance to calibrate the heading offset correctly During this calibration several accurate reference measurements of the vessel heading must be read logged simultaneously with the heading output from the Seapath The data logging should continue for at least two hours under calm conditions alongside a quay The best results are achieved if continuous logging of both the reference system and the Seapath measurements can be performed during the calibration period If simultaneous logging of the two systems is not possible one reading from both systems should be done at least every 30 seconds for a minimum of two full hours The long calibration time is necessary in order to cancel out errors in the Seapath measurements caused by multipath effects which may be particularly pronounced in the static conditions of a harbour area Before calibration measure the
138. rformed in dock or alongside Dynamic gyro calibration verification and attitude control heading roll pitch control must be performed at sea 3 3 5 Survey accuracy The Seapath 320 product must be surveyed to the following accuracy level If not the performance of the product will be degraded e Lever arm vector from CRP to GNSS antenna position X Y Z 0 1 metre e Lever arm vector from CRP to MRU X Y Z 0 1 metre e MRU 5 misalignment angles Roll Pitch Yaw with the vessel axes lt 0 1 32 M300 62 rev 2 Installation Manual 3 3 6 Cabinet mounting 3 3 6 1 Mounting Seapath with delivered cabinet The cabinet should be securely mounted Drilling plan for the resilient mountings is included in the attached drawings Caution The cabinet must be connected to a grounded outlet It is recommended that the cables attached to the rear of the unit should be long enough to accommodate all service from the front The cabinet must be mounted in such a way that the minimum cable bends on the rear side are not exceeded For the antenna cables it may be necessary to use the short transition RG 213 or RG 214 cable in order to route the cables properly into the cabinet 3 3 6 2 Mounting Seapath without delivered cabinet A system delivered without a cabinet shall be mounted on attachment rails in a standard 19 inch rack Minimum depth of the rack is 500 mm It is recommended that the rack is resiliently mounted
139. ripts used to control compilation and installation of the executable However as a special exception the source code distributed need not include anything that is normally distributed in either source or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable If distribution of executable or object code is made by offering access to copy from a designated place then offering equivalent access to copy the source code from the same place counts as distribution of the source code even though third parties are not compelled to copy the source along with the object code 4 You may not copy modify sublicense or distribute the Program except as expressly provided under this License Any attempt otherwise to copy modify sublicense or distribute the Program is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 5 You are not required to accept this License since you have not signed it However nothing else grants you permission to modify or distribute the Program or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Program or any work based on the Program
140. rogram or with a work based on the Program on a volume of a storage or distribution medium does not bring the other work under the scope of this License 3 You may copy and distribute the Program or a work based on it under Section 2 in object code or executable form under the terms of 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 physically performing source distribution a complete machine readable copy of the corresponding source code to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or Accompany it with the information you received as to the offer to distribute corresponding source code This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer in accord with Subsection b above The source code for a work means the preferred form of the work for making modifications to it For an executable work complete source code means all the source code for all modules it contains plus any associated interface definition files plus the sc
141. rs 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 a Processing Unit to another Processing Unit Below is the pin wiring for the different TP cables Table IO Pin layout for LAN 1 Ethernet ports The pins 4 5 7 and 8 are not used 20 M300 62 rev 2 Installation Manual e LAN2 3 and 4 at the rear These LANs are of high capacity 10 100 1000 Mbps and are of type auto crossover and auto negation Below is the pin wiring for these LANs connected to different network capacities 10 1000 or 100 1000 Mbps Ethernet 1000 1000 Mbps Ethernet TX DA Pin no Pinno Signal Description Papo os o RX_DB oe BI DB Bi directional pair B 7 LU BI DD Bi directional pair D s JL s BLDD Biirectional 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 of up to 1000 Mbps 1 Gigabit per second The maximum length of the cable that can be used is 100 metres
142. s are met 1 Redistributions of source code must retain the 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 All advertising materials mentioning features or use of this software must display the following acknowledgement This product includes cryptographic software written by Eric Young eay cryptsoft com The word cryptographic can be left out if the rouines from the library being used are not cryptographic related 4 If you include any Windows specific code or a derivative thereof from the apps directory application code you must include an acknowledgement This product includes software written by Tim Hudson tjh cryptsoft com THIS SOFTWARE IS PROVIDED BY ERIC YOUNG AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT
143. s primarily intended for field engineers during initial installation fault diagnostics and system wide reconfiguration A password is required to switch from Operation to Engineering or Configuration mode The password is stx and it is not possible to change The system will return to Operation mode after 3 minutes of user inactivity M300 62 rev 2 51 Seapath 320 4 3 From the System menu configuration of NavEngine is available Two modes of configuration are available Standard and Advanced The Standard configuration is available when logged into Configuration mode while the Advanced configuration is available in Engineering mode 4 4 NavEngine configuration D View Alarm Tools System m Configuration Advanced Operator SW Information Help F1 About Ctr F1 Change system mode Restart 0 64 Shutdown Stop Figure 24 NavEngine configuration Standard configuration When Standard configuration is selected from the System menu the NavEngine Configuration view is displayed NavEngine Configuration El Vessel Geometry Description E Sensors E GNSS Geometry Processing Attitude Processing E DGNSS SBAS Ej MRU Geometry Heave config B Monitoring Points Geometry E Communication Interface Input Output Data Pool Connected to Seapath 330 History Figure 25 NavEngine Configuration view At the top of the NavEngine Configuration view there are three button
144. s several of these drivers on the CD and in the repository clearly separated from the rest of the software by being placed in the restricted component M300 62 rev 2 133 Seapath 320 Binary drivers are a poor choice if you have a choice Without source code Ubuntu cannot support this software we only provide it for users who require it to be able to run the Free Software we provide in main Also we cannot make binary drivers available on other architectures such as the Mac or IPAQ if we don t have the ability to port the software source code ourselves If your hardware is fully supported with open source drivers you can simply remove the 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 who prefer to keep only the software they absolutely need on the server All of the application software installed by default is Free Software In addition we install some hardware drivers that are available only in binary format but such packages are clearly marked in the restricted component 134 M300 62 rev 2 Installation Manual INDEX A analog output 19 C cabinet mounting
145. s to handle the configuration parameters 52 M300 62 rev 2 Installation Manual Apply To save the parameter settings the Apply button must be pressed Revert The Revert button contains the last applied configuration parameters History A new configuration file is stored each time the Apply button is pressed From the History button the saved files are available The 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 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 config Monitoring points geometry Communication interface including Input Output Data pool M300 62 rev 2 History 2009 11 19 13 39 2009 11 19 13 38 2009 11 19 13 37 2009 11 19 13 36 2009 11 19 13 35 2009 11 19 13 33 2009 11 19 13 32 2009 11 19 13 31 2009 11 19 13 22 2009 11 19 13 20 DPS 4D default Browse Figure 26 History button Vessel Geometry Description Sensors GNSS Geometry Processing Attitude Processing DGNSS SBAS MRU Geometry Heave config Monitoring Points Geometry E Communication Interface Input Output Data Pool Figure 27 Confi
146. ses the Library with the Library creates an executable that is a derivative of the Library because it contains portions of the Library rather than a work that uses the library The executable is therefore covered by this License Section 6 states terms for distribution of such executables When a work that uses the Library uses material from a header file that is part of the Library the object code for the work may be a derivative work of the Library even though the source code is not Whether this is true is especially significant if the work can be linked without the Library or if the work is itself a library The threshold for this to be true is not precisely defined by law Tf such an object file uses only numerical parameters data structure layouts and accessors and small macros and small inline functions ten lines or less in length then the use of the object file is unrestricted regardless of whether it is legally a derivative work Executables containing this object code plus portions of the Library will still fall under Section 6 Otherwise if the work is a derivative of the Library you may distribute the object code for the work under the terms of Section 6 Any executables containing that work also fall under Section 6 whether or not they are linked directly with the Library itself 6 As an exception to the Sections above you may also combine or link a work that uses the Library with the Library to produce a work containin
147. sing 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 required number of clips to fasten the cable to the wall 4 Insert each of the MRU to Processing Unit cable wires into the correct terminal on the user side x1 and all cable shields to pin 1 chassis on the auxiliary contact side x3 within the box Ensure that the shield around each pair in the cable is individually isolated on the 10 pin terminal The outer shield is connected to pin 3 screen on this terminal which is an open end not connected to earth 5 Insert an isolated wire between pin 24 LGND and pin 27 Shutoff on the user side x1 in the junction box By connecting these two pins the communication with the MRU will switch from RS 232 to RS 422 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 40 M300 62 rev 2 Installation Manual establish RS 422 communication between the MRU and the Processing Unit Otherwise there will be no communication between these two components Note The junction box housing is grounded to earth through the screws for mounting the box to the wall or floor Please note that if the foundation on which the junction box is mounted is NOT connected to earth one of the junction box mounting screws has to be connected to eart
148. ssible to set the following datum ED 50 WGS 84 or Type NAD 27 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 Heading from a gyrocompass or similar can be input to the Seapath as backup to improve reliability M300 62 rev 2 75 Seapath 320 Input Output list Interface Type Direction 120 Properties Description Q Gyrol Serial In NONE S600 n 8 1 Gyro 0 Q DanssLinkO Serial In COM1 9600 n 8 1 rs 232 RTK et v Q Disabled Q OK Warning Q Conflict Y Configuration details Interface Gyro1 Description Gyro 0 prede nd Y 1 0 Properties gt Detail Y e in properties Format Disabled Timeout s Pl Interval s 0 1 Priority Rebat Go 4 O Checksum required Geoconsult NMEA HDM NMEA PSXN10 NMEA PSXN23 Figure 54 Gyro properties Timeout Age limit If the age of the gyro message exceeds this limit the gyro message is invalid s Format From the Format drop down list the following options may be selected Disabled NMEA HDT 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 Tel
149. t correction age to 9 9 sec in GGA Use GNSS solution only Set GGA quality indicator to 5 if converged HP XP or G2 gt Details Use last valid position in all NMEA messages if position is invalid Y Telegram out prope Use current GNSS info if only integrated position is valid v Allow more than 12 satelites in GGA message Port COME 1 Monitoring point Use external attitude for lever arm compensation and vel decomposition VB Options Set GGA quality indicator to 5 if converged HP XP or G2 E NMEA talker ID Time precision 38 Binary message token 08 NMEA selection GGA GST ZDA VTG P20 P21 P23 E Figure 52 Telegram output options The telegram options are 74 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 only Use UTC time in ZDA message Disable additional GNS messages when diffcorr is used for both GPS and GLONASS Limit correction age to 9 9 seconds in GGA Use GNSS solution only Set GGA quality indicator to 5 if converged HP XP or G2 M300 62 rev 2 Installation Manual e Use last valid position in all NMEA messages if position is invalid e Allow more than 12 satellites in GGA message e Use external attitu de for lever arm compensation and vel decomposition VBW NMEA select
150. tatus word are reserved for future expansion A 14 PFreeHeave format 24 This PFreeHeave format consists of a fixed length message using 1 2 and 4 byte signed 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 of bytes is 13 The PFreeHeave output is delayed by a few minutes due to processing The time fields contain time of validity for the data Format Header Unsgned 1 AA Hex E aa Time seconds Seconds integer 4 Time fraction of second 0 0001 second unan I U to 9999 Heave Cemtimees Imeger 2 106 M300 62 rev 2 Installation Manual Status word Bises lr Checksum Sigea 2 Checksum is calculated as a 16 bit Block Cyclic Redundancy Check of all bytes between but not including the Header and Checksum fields The CRC algorithm is described in a separate section Time is divided in an 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 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 b
151. te unsigned 2 byte unsigned and 2 byte two complement integer data elements For the 2 byte elements the least significant byte is transmitted first Format EA A Unsigned Header Unsigned 1 fome M300 62 rev 2 97 Seapath 320 Format 0 01 degrees 17999 to 17999 0 01 degrees Integer 17999 to 17999 999 10 999 0 01 degrees 0 to 35999 Roll is positive with port side up Pitch is positive with bow up Heave is positive up The status byte can have the following values Interpretation Normal Reduced performance Invalid data Invalid data are also indicated by values outside the specified ranges When the status is AO 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 degrees 0 00 359 99 Baseline 26 31 meres 3 Height 34 38 metes 2 3 Tem J39 40 dera 98 M300 62 rev 2 Installation Manual Each record consists of numbers on ASCII format separated by spaces and terminated by carriage return and linefeed values 10 and 13 Leading spaces are used so the numbers are separated by two or more spaces and spaces may occur before the first number on the record Time is counted since last midnight UTC time Heading is true heading from the GNSS phase measurement which is not
152. te corrections to use the DGNSS corrections in the GNSS velocity calculations The default setting is enabled on use of range rate corrections Disabling range rate corrections will reduce velocity and attitude noise when receiving DGNSS corrections from a reference station with a noisy range rate For the Seapath 330 models the search mode for the RTK solution should be changed from the default mode Normal to Safe or Fast by pulling down the RTK search mode M300 62 rev 2 59 Seapath 320 drop down list The Safe mode is recommended used under difficult conditions with much multipath or ionospheric activity and for long baselines The Fast mode is used when a fast RTK solution is required However in this mode the probability for an incorrect solution from the system increases NavEngine Configuration History E Vessel GNSS proces Geometry Height aidin ae Aid mode Filter Aided height Po aas m height of NRP above sea level B GNSS Geometry SV masking Elevation mask 10 Attitude Processing E DGNSS SBAS RIK E MRU RTK search mode Geometry Heave config B Monitoring Points Geometry E Communication Interface Input Output Data Pool g settings Connected to Seapath 330 Current 2010 06 16 14 26 38 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 Howeve
153. te the Library or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Library or any work based on the Library you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Library or works based on it 10 Each time you redistribute the Library or any work based on the Library the recipient automatically receives a license from the original licensor to copy distribute link with or modify the Library subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights granted herein You are not responsible for enforcing compliance by third 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 your obligations under this License and any other pertinent obligations then as a consequence you may not distribute the Library at all For example if a patent license would not permit royalty free redistribution of the Library by all those who receive copies directly or indirectly through you then the onl
154. tep Choose Create a System Rescue and Restore Disk Confirm that it is OK to delete everything on the target stick The SRRD creation will take 5 to 30 minutes or more depending on the speed of the USB disk M300 62 rev 2 Installation Manual 12 As soon as 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 M300 62 rev 2 81 Seapath 320 82 M300 62 rev 2 Installation Manual 5 DRAWINGS This section contains outline 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 M300 62 rev 2 83 Seapath 320 Processing and HMI Units 5 1 H s 60028 xojooag Bueqs6uoxy ue uoissiuued Ua INO nou SIBUJO O4 SQONDAD epoui Jo Daa pardos eq jou ADU BUIMDIP siu 00 II Ee Ge LOv 0020 suoisuauuig A quuessy UIOW NZ X00Z4MH X94099 SY SVINJANI en DE ss Sl gil sanal SS nad iom EF TEE ISE S08 00 444 ser
155. the hull This is particularly important on a floating vessel as it is not possible to project the horizontal plane from land Note If the CRP is to be located at the Centre of Gravity COG the load conditions used when defining the COG must be known as the actual COG moves dynamically depending on load conditions of the vessel 3 3 2 MRU The following is to be surveyed e Position X Y Z of sensor point e g for an MRU 5 use centre top chassis e Mounting angles Yaw heading M300 62 rev 2 31 Seapath 320 Pitch Roll Pitch and Roll mounting angles should ideally be confirmed against MRU logs for instance during Gyro calibration 3 3 3 GNSS antennas The following is to be surveyed e Position X Y Z centre of the antenna 1 disc or otherwise defined sensor point e Angular offset between the line from centre antenna 1 to centre antenna 2 and the vessel centre line CL Note This offset should be confirmed against a Seapath GPS heading log typically during gyro calibration 3 3 4 Gyro If a gyro compass is interfaces to the Seapath system the following is to be surveyed e 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 pe
156. ther 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 linking only if the entire combination fits its criteria of freedom The Lesser General Public License permits more lax criteria for linking other code with the library We call this license the Lesser General Public License because it does Less to protect the user s freedom than the ordinary General Public License It also provides other free software developers Less of an advantage over competing non free programs These disadvantages are the reason we use the ordinary General Public License for many libraries However the Lesser license provides advantages in certain special circumstances For example on rare occasions there may be a special need to encourage the widest possible use of a certain library so that it becomes a de facto standard To achieve this non free programs must be allowed to use the library A more frequent case is that a free library does the same job as widely used non free libraries In this case there is little to gain by limiting the free library to free software only so we use the Lesser General Public License In other cases permission to use a particular library in non free programs enables a greater number of people to use a large body of free software For example permission to use the GNU C Library in non free progr
157. tion software is covered by the GNU Lesser General Public License instead You can apply it to your programs too When we speak of free software we are referring to freedom not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if you wish 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 of the software or if you modify it For example if you distribute copies of such a program whether gratis or for a fee you must give the recipients all the rights that you have You must make sure that they too receive or can get the source code And you must show them these terms so they know their rights We protect your rights with two steps 1 copyright the software and 2 offer you this license which gives you legal permission to copy distribute and or modify the software Also for each author s protection and ours we want to make certain that everyone understands that there is no warranty for this free software If the software is modified by someone else and passed on we want its recipients to kn
158. tive with port side up Pitch in degrees on format d dd Positive with bow up Heave in metres on format d dd Positive down Roll rate in degrees per second on format d dd Positive when port side is moving upwards Pitch rate in degrees per second on format d dd Positive when bow is moving upwards Yaw rate in degrees per second on format d dd Positive when bow is moving towards starboard 95 Seapath 320 vertical Vertical velocity in metres per second on format d dd Positive when moving vel downwards event Event code 1 system restart csum Checksum exclusive or of all characters between but not including the preceding and hexadecimal 00 FF term CR LF 2 bytes values 13 and 10 The ZDA GGA GLL VTG HDT GST GSA GRS PSXN 20 21 22 and 23 messages are output regularly at an adjustable rate If gyro calibration data are not being calculated the PSXN 22 message is not output The PSXN 21 message is output once when an event occurs A sub set 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 Header Lasep asena o eth Unsgned 149 Token Umsigned fo 255s Time m
159. torsion movement relative to the ship s hull is kept at an absolute minimum 28 M300 62 rev 2 Installation Manual Note If the Antenna Bracket supplied by Kongsberg Seatex is not used it is important that the antennas are rigidly mounted so that the distance between the antennas does not change due to vibrations or accidental dislocation The antenna baseline length is recommended in the range 2 5 to 4 0 metres but 1 to 5 metres can be used Maximum heading accuracy is achieved at 4 0 metres baseline The maximum length for each of the antenna coaxial cables is 100 metres for the cable type normally delivered with the system 1 2 Superflex If longer cables are needed a low noise signal amplifier LNA should be fitted 3 2 2 MRU 5 For the MRU consider the following The unit is designed for installation in an indoor environment and for operation within the temperature range The unit is to be mounted close to the user equipment of which it is supposed to measure the motion This is to avoid errors in alignment with the user 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 possi
160. tware Part no M300 23 e Antenna Bracket in aluminium 2 5 metre baseline Part no M320 21 e Antennas two GPS GLONASS L1 amp L2 antennas Part no G060 24N e 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 e Seapath HMI Unit with operator software Part no M300 04 e Cable for power Processing and HMI Unit two of 2 5 m Part no G032 28 e Monitor 17 standard LCD table mount Part no G060 32 e Keyboard US layout Part no G062 11 e PC mouse Part no G062 16 e MRU 5 sensor Part no MRU 5 e MRU wall mounting bracket Part no MRU M MB3 e MRU junction box for flexible connection of MRU to Seapath Part no MRU E JB1 e Cable heavy duty screened cable with 14 twisted pairs Part no MRU E CSI e MRU transportation box Part no MRU M SCI e Seapath 320 Product Manuals Part no M300 72 M300 62 rev 2 1 Seapath 320 Human Machine Interface Visualizaation of data System configuration MRU Data GNSS signals GNSS corrections Figure 1 Standard system for 19 inch rack mounting In addition to the above delivered parts the following is needed A 19 inch rack for mounting of the Processing Unit A 19 inch rack for mounting of the HMI Unit GNSS antenna cables and the cable between the Processing Unit and the MRU junction box DGPS DG
161. will find just about every other piece of software you can imagine under a huge variety of licenses really the full software universe If you install software from universe please ensure you take the time to check the license for yourself All software in Ubuntu main and restricted must be licensed in a way that is compatible with our license policy There are many definitions of free and free software so we have included our own set of guidelines Ubuntu main Component license Policy All application software included in the Ubuntu main component Must include source code The main component has a strict and non negotiable requirement that application software included in it must come with full source code Must allow modification and distribution of modified copies under the same license Just having the source code does not convey the same freedom as having the right to change it Without the ability to modify software the Ubuntu community cannot support software fix bugs translate it or improve it Ubuntu main and restricted Component license Policy All application software in both main and restricted must meet the following requirements Must allow redistribution Your right to sell or give away the software alone or as part of an aggregate software distribution is important because You the user must be able to pass on any software you have received from Ubuntu in either source code or compiled form W
162. y 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 user text proceed as follows 1 When generating the vessel image from file the following data format and structure is to be used The vessel data have to be in an ASCII file generated by Excel Notepad or similar tools The file head includes LOA Overall width Overall height and Aft to AP data in metres Profile data in X and Z coordinates in metres The first coordinate has to be for AP and start with 0 00 and the last coordinate has also to be AP end with 0 00 The top view data in X and Y coordinates in metres The first coordinate has to be for the aftermost point on the vessel and on the centre line The last coordinate has to be the foremost point on the vessel and on the centre line Only data for the starboard side of the vessel should be input since a vessel is symmetric along the centre line 2 A typical example of a vessel data file is shown below M300 62 rev 2 23 Seapath 320 me wer D no Der B nor m em DEC PROFILE Figure 29 Example GA drawing of multi purpose vessel r mpv txt Notepad ea File Edit Format View Help vessel Data m LOA 120 70 width 23 00 Height 32 20 Aft to AP 7 00 Profile coordinates
163. y of the library already present on the user s computer system rather than copying library functions into the executable and 2 will operate properly with a modified version of the library if the user installs one as long as the modified version is interface compatible with the version that the work was made with Accompany the work with a written offer valid for at least three years to give the same user the materials specified in Subsection 6a above for a charge no more than the cost of performing this distribution Tf distribution of the work is made by offering access to copy from a designated place offer equivalent access to copy the above specified materials from the same place Verify that the user has already received a copy of these materials or that you have already sent this user a copy For an executable the required form of the work that uses the Library must include any data and utility programs needed for reproducing the executable from it However as a special exception the materials to be distributed need not include anything that is normally distributed in either source or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable It may happen that this requirement contradicts the license restrictions of other proprietary libraries that do not normally accompany the operating system Such a contradictio
164. y way you could satisfy both it and this License would be to refrain entirely from distribution of the Library If any portion of this section is held invalid or unenforceable under any particular circumstance the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 12 If the distribution and or use of the Library is restricted in certain countries either by patents or by copyrighted interfaces the original copyright holder who places the Library under this License may add an explicit geographical distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the li
165. you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Program or works based on it 6 Each time you redistribute the Program or any work based on the Program the recipient automatically receives a license from the original licensor to copy distribute or modify the Program subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights granted herein You are not responsible for enforcing compliance by third parties to this License 7 1f 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 your obligations under this License and any other pertinent obligations then as a consequence you may not distribute the Program at all For example if a patent license would not permit royalty free redistribution of the Program by all those who receive copies directly or indirectly through you then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program If any portion of this section is held invalid or unenforceable under any particular circumstance t
166. you must cause it when started running for such interactive use in the most ordinary way to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty or else saying that you provide a warranty and that users may redistribute the program under these conditions and telling the user how to view a copy of this License Exception if the Program itself is interactive but does not normally print such an announcement your work based on the Program is not required to print an announcement These requirements apply to the modified work as a whole If identifiable sections of that work are not derived from the Program and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Program the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of this section to claim rights or contest your rights to work written entirely by you rather the intent is to exercise the right to control the distribution of derivative or collective works based on the Program In addition mere aggregation of another work not based on the Program with the P
167. yte elements the most significant byte is transmitted first The total number of bytes is 44 Format Heer Unsigned 1 AA Hex e I peii se Time seconds Seconds tmeger 4 Time fraction of second 0 0001 second Umsigmed 12 0109999 2 t0 2 EET D Ras RA North velocity Centimetresfsecond Integer 2 East velocity Centimetres second Integer 2 Down velocity Cemimetesiecond nee 2 al W olegne megee 2o 2r 25025 Susww T 2 Checksum jUmiged Ja 4099 M300 62 rev 2 105 Seapath 320 Checksum is calculated as a 16 bit Block Cyclic Redundancy Check of all bytes between but not including the Header and Checksum fields The CRC algorithm is described in a separate section Time is divided in an 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 from 0 to 15 where 0 is the least significant bit A 1 value true means 0 Reduced horizontal position and velocity performance Reduced roll and pitch performance 5 Invalid roll and pitch data la Reduced heading performance Invalid heading data The remaining bits in the s

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