Raymarine NMEA BRIDGE Specifications

USB
S e a Ta l k < - > N M E A
Converter
Installation and Operation
Manual
Hardware Version : V 3.5
with galvanic isolation
Software Version : V 1.62
July 2010
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Contents
Table of Contents
Credits / Warning / Disclaimer...............................................................................................3
Function overview..................................................................................................................4
Installation..............................................................................................................................4
Driver installation...............................................................................................................5
Initial startup.......................................................................................................................6
SeaTalk and NMEA Data.......................................................................................................8
NMEA Input........................................................................................................................8
NMEA Output.....................................................................................................................9
SeaTalk Input...................................................................................................................10
SeaTalk Output.................................................................................................................11
Collision detection.....................................................................................................11
Same type of Data on NMEA & SeaTalk.........................................................................12
The $STALK sentence....................................................................................................13
Configuration settings..........................................................................................................14
How to set the configuration :..........................................................................................14
Addresses and descriptions for $SNBSE Sentence........................................................16
Reading actual configuration settings:.............................................................................18
Software update..................................................................................................................19
Bootstrap Loader.............................................................................................................19
PCB Layout..........................................................................................................................20
SeaTalk & NMEA conversion Table.....................................................................................21
Errata...................................................................................................................................22
ASCII Table..........................................................................................................................23
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Credits / Warning / Disclaimer
The protocol converter is a
RESEARCH PROJECT.
It is used for research on data communication, computer communication and data
conversion on computers used on board boats.
Hard- and Software are still under development and have NOT been fully tested.
Malfunctions of the protocol converter and of any connected device are possible at any
time.
Never use this product as your only source of navigation data. Always apply “good
seamanship” by using proper charts, keeping lookout and cross check electronic data with
other sources.
The protocol converter could cause damage to connected devices.
Liability cannot be accepted for any damages, personal injuries or malfunctions caused
by the converter.
There are no Seatalk technical specifications available from the manufacturer. I have used
the Technical Reference of the Seatalk protocol, compiled by Thomas Knauf GmbH.
See http://www.thomas-knauf.de/seatalk.htm .Thank you to Thomas Knauf for his work.
Do not use for navigation
An operating GSM mobile phone should not be placed within 2m of an
unshielded Seatalk/NMEA Bridge because of interference from the phone's
radio transmissions. If a phone is brought closer than this 2m distance, the
bridge may stop operating or data may become corrupted.
( Thank's John Blaiklock for testing )
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Function overview
The converter interconnects two different data communication systems – SeaTalk1 and
NMEA.
● Information from the SeaTalk bus is transformed into NMEA Data and sent to the
USB port of the boat computer.
• Information from navigation software in NMEA format is transformed into SeaTalk
data and sent to the SeaTalk bus.
Installation
The USB-SeaTalk NMEA bridge comes with two connectors.
A USB Plug
Connect the USB plug to your
computer, using the supplied
extension cable
A SeaTalk Terminal
Connect a SeaTalk Instrument to the SeaTalk
terminal as shown below
The SeaTalk plug has a 3 pin detachable screw terminal.
Connect the SeaTalk terminal to one of your SeaTalk instruments.
Make sure, that cables are connected as shown above. A wrong connection could damage the
converter or other devices on the SeaTalk Bus.
The SeaTalk Port is galvanic isolated from the USB port. The SeaTalk-NMEA-Link gets it's
operating power from the USB port - not from the SeaTalk Port.
USB plugs are unstable. Please use the supplied extension cable between your computer
and the SeaTalk-Nmea-Bridge. Do not plug the SeaTalk-Nmea-Bridge directly into a USB
Port of your computer. Otherwise you will have a very unstable electrical and mechanical
connection. This can cause frequent loss of data and can even mechanically damage the
printed circuit board in the device or in your computer.
1
SeaTalk is Reg. Trademark of Raymarine Inc.
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Driver installation.
Depending on your operation system it might be necessary to install a driver software.
The bridge uses a standard FTDI USB Serial Converter.
Linux :
A normal LINUX system does not need any driver installation. It will recognise the USB
chip and connect it to port /dev/ttyUSB0. If you already have another USB-Serial
converter connected to your system, the bridge will be connected to /dev/ttyUSB1 or /dev/
ttyUSB2 etc. . To find out which port has been assigned, open a console window and
type “tail /var/log/messages”. You should see something like
usb 2­2: new full speed USB device using uhci_hcd and address 29
usb 2­2: configuration #1 chosen from 1 choice
ftdi_sio 2­2:1.0: FTDI USB Serial Device converter detected
usb 2­2: FTDI USB Serial Device converter now attached to ttyUSB0
In this example, the SeaTalk Nmea Bridge has been attached to /dev/ttyUSB0
Windows:
On a Windows System it will be necessary to install driver software. If you already have
used a FTDI USB Serial Converter on your system, this driver may already be installed.
The driver software can be found on the CD in subdirectory /DRIVERS.
Com Port assignment
Windows automatically assigns a virtual COM port to the SeaTalk NMEA Bridge.
You can use the Windows System Manager to find out which COM Port has been
assigned.
In the Device Manager you’ll find “Ports – COM & LPT “.
Here Windows has assigned COM4 to the SeaTalk NMEA Bridge.
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Initial startup
Once the drivers are installed, it's time for a first test and to adjust the device to your
needs.
●
For our first tests and configuration, we don’t want to be distracted by incoming
SeaTalk Data. Therefore - Unplug the SeaTalk port.
●
Connect the device to the USB port of your computer.
●
Find out which port has been assigned by the operating system. ( See above )
●
Open a terminal program.(For example hyperterm for Windows, minicom for Linux)
●
Set the terminal program to the assigned port (Windows - COM1:, COM2 ... Linux /
dev/ttyUSB0, /dev/ttyUSB1 .....)
Set the terminal program to: 8 Bit, No Partiy, 1 Stop-Bit, 4800 Baud, No
Handshake.
Please make sure, that you terminal software is set to send CR/LF when you press
the ENTER Key.
Here is an example for Windows Hyperterm:
Start Hyperterm. It will ask for a
connection name. Just type in anything.
Select the communications port.
Choose :
4800 Baud
8 Data bits
No Parity
1 Stop bit
No Flow Control
... and press OK
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You will see an empty terminal screen.
In the status bar, Hyperterm will show
“Connected”.
Type :
$SWVERSION in capital letters and
press ENTER. While you type
$SWVERSION, you will not see what
you type. The bridge does not echo
what you type. After you pressed the
ENTER key, the bridge will display it’s
software version string.
If the bridge does not respond, press
ENTER and try again. The terminal
program might have sent some modem
initialisation strings on start-up.
Type :
$SWVERSION
Bridge responds :
SeaTalk<->Nmea Converter VER,1.62
$STVER,1.62
Once communication is established, you can set the configuration as needed.
See chapter “Configuration settings” on page 14
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SeaTalk and NMEA Data
NMEA Input
The SeaTalk NMEA Bridge reads and writes NMEA Data to/from the USB Port.
Processing of incoming NMEA data starts, when a complete NMEA sentence has been
received ( $xxxxx,.....<CR><LF>) from the boat computer
If the received sentence contains a checksum, this checksum is used to check for
communication errors. If the checksum does not match the sentence, the received NMEA
sentence is discarded.
If the sentence does not contain a checksum, the sentence is always regarded as valid.
After complete reception and checksum verification of the sentence, the data are
processed and translated into SeaTalk
At this time the following NMEA sentences can be received:
$xxRMC
Speed over Ground, Course over Ground, Latitude, Longitude, Time, Date
$xxRMB
Waypoint Name, XTE, distance & bearing to waypoint, arrival info etc.
$xxAPB
$xxBWC
Waypoint Name, XTE, distance & bearing to waypoint,arrival info etc.
$xxDBT
$xxDPT
$xxMTW
$xxVLW
$xxMWV
$xxHDM
$xxHDG
$xxGLL
$xxZDA
$STALK
$SNBSE
Depth below transducer.
Depth below keel
Water Temperature
Total / Trip Mileage
Wind angle Wind Speed
Heading magnetics
“
“
Position
Date & Time
Special SeaTalk datagram
Board configuration
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NMEA Output
The converter continuously checks for new incoming SeaTalk data.
Incoming SeaTalk data is converted to NMEA Data and transferred to the NMEA-USB
Port.
The following NMEA sentences can be sent :
$IIDBT
$IIVHW
$IIMTW
$IIVLW
$IIMWV
$IIHDM
$IIRMC
$IIRSA
$STALK
$SNBSE
Depth below transducer
Optional $IIDPT can be sent instead of $IIDBT
Speed t. Water
Water Temperature
Total / Trip Mileage
Wind angle & Wind speed
Heading compass
Speed over ground, Course over ground, Latitude, Longitude,
UTC time, Date
Optional an additional $IIGLL sentence can be sent for position information
Rudder Position
special SeaTalk datagram
special system configuration datagram
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SeaTalk Input
When a SeaTalk datagram was received the system checks if this datagram is known and
should be processed. When the datagram is known, all datagram parameters are
extracted and stored.
Any unknown datagram is ignored.
(Exception: $STALK is sent even for unknown datagrams )
At this time the following SeaTalk datagram’s can be received.
00 Depth
10 Wind angle
SeaTalk Input
11 Wind speed
20 Speed through water
SeaTalk -> NMEA
21 Trip mileage
translation
22 Total mileage
23 Water temperature
NMEA USB
25 Total & trip mileage
Output
26 Speed through water
27 Water temperature
30 Display illumination
50 Latitude
51 Longitude
52 Speed over ground
53 Course over ground
54 UTC time
56 Date
84 Compass heading
89 Compass ST40 heading
9C Compass Heading & Rudder position
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SeaTalk Output
The converter periodically checks if any new data has arrived from NMEA, that needs to
be sent to SeaTalk. New data is written to the SeaTalk bus only if the bus is not in use by
any other instrument. If the bus is in use, the converter waits for a while, and tries again.
Collision detection
With SeaTalk it can happen, that two instruments try to send data at the same time. This
may causes a data collision on the SeaTalk bus. In this case, the SeaTalk NMEA Bridge
immediately stops sending the current datagram.
To detect data collision, every single bit sent out to the SeaTalk bus is read back again
and checked for successful transmission. If the transmission was corrupted, this
transmission is stopped immediately. This single datagram will be discarded.
When the bus becomes free again, the transmission will be started again.
The lost datagram will be repeated on the next update from NMEA data.
At this time the following SeaTalk datagrams can be sent
00 Depth
10 app. Wind angle
11 app. Wind speed
25 Total & Trip mileage
27 Water temperature
30 Display illumination
50 Latitude
51 Longitude
52 Speed over ground
53 Course over ground
54 Time
56 Date
82 Target waypoint name
85 Navigation to waypoint Data
89 Compass ST40 heading
A2 Waypoint arrival Info
20 Speed through water
NMEA USB Input
NMEA -> SeaTalk
translation
SeaTalk Output
(see “Configuration settings” Item 14)
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Same type of Data on NMEA & SeaTalk
Information available from like instruments on both Busses ( SeaTalk & NMEA ) are not
converted.
Example:
We have a depth sounder on the SeaTalk Bus and another depth sounder on the NMEA
bus.
So, on both sides depth information is available.
In this case no depth information in transferred from one bus to the other.
If depth information is not updated within 30 sec. on one bus, sending to the other bus is
activated again. So - If one device should break, we have an automatic switchover to the
remaining functioning device.
Some navigation software echo’s all received NMEA sentences back to the SeaTalkNMEA-Link. In this case, the SeaTalk-NMEA-Link would stop translating data from/to
SeaTalk, because it would find every information as already available on the NMEA side.
See item #25 on page 17 for SeaTalk-NMEA-Link settings.
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The $STALK sentence
The converter can process a special NMEA-like sentence.
With this special sentence any SeaTalk command can be sent to SeaTalk.
$STALK,cc,p1,p2..,pn*xx
cc = SeaTalk Command
p1 = Parameter1
p2 = Parameter 2
..
*xx = NMEA checksum ( optional ) .
This special sentence will also be sent to the NMEA Bus (USB) for every received SeaTalk
datagram – regardless as to whether it was recognised and processed or not.
For every received SeaTalk datagram,
Transmission of the $STALK sentence is switch on by default and should be switched off if
not really needed. It causes unnecessary additional load on the NMEA Bus.
It is switched on by default
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Configuration settings
The SeaTalk NMEA converter can be configured to meet the users requirements.
The configuration is made by sending a NMEA-like sentence. The settings are stored in an
EEProm.
The configuration sentence is:
$SNBSE,address,data<CR><LF>
( SNBSE = Seatalk NMEA Bridge Set Eeprom )
Most configuration settings a read only, when the bridge gets switched on. So when you
make changes to the configuration, you need to disconnect/reconnect it from the USB port
in order to activate the changes.
How to set the configuration :
Connect the bridge to a PC.
Open a terminal program ( i.e. hypertern ) and set it to 4800 Baud, 8 Bit, no parity, no
handshake.
If there are SeaTalk instruments connected, you will see data coming in.
Type “ $xxx “ and press
The bridge responds with “ $xxx “. When you receive the $xxx, connection to your bridge
is ok. If $xxx does not appear after you pressed ENTER, check connection, setting of
Com-Port, Baud rate etc.
You will not see the characters on your screen as you type them. The bridge will only
respond after you pressed ENTER
Example 1 :
In this example, we configure the bridge, so that every incoming SeaTalk sentence
will be sent to the PC as $STALK,xx,yy sentence.
,,
In your terminal program type
$SNBSE 0 1
The bridge will respond
$SNBSE,0,0.001
( capital letters )
Next time you switch the bridge on, it will send every incoming SeaTalk sentence to
the PC as a $STALK,xx,yy,zz … sentence.
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Example 2 :
In this example, we configure the bridge, so that it only translates data from
SeaTalk to NMEA – but does not send anything to the SeaTalk Bus.
, ,
In your terminal program type
$SNBSE 16 0
The bridge will respond
$SNBSE,16,0.000
Next time you switch the bridge on, it will not send anything to the SeaTalk Bus but
it will only listen for SeaTalk data and translate them to NMEA.
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Addresses and descriptions for $SNBSE Sentence
Address
0
1
Data
1 = Send out every incoming SeaTalk datagram as "$STALK....." to NMEA
0 = Do not generate $STALK,xx,yy sentence for each incoming SeaTalk
datagram
If you don’t really need this function – better switch if OFF.
It causes additional load on the NMEA Bus.
Set NMEA Port Baudrate
1 = 300 Baud
2 = 600 Baud
3 = 1200 Baud
4 = 2400 Baud
5 = 4800 Baud ( Default )
6 = 9600 Baud
7 = 19200 Baud
8 = 38400 Baud
any other value defaults to 4800 Baud
Baud rate is changed at next start of the converter
Warning :
The baudrate selected is also the baudrate used for any further configuration.
If your configuration program can not handle the selected baudrate, the only way to
reconfigure the device is loading new Software which resets all settings to default
values.
2+3
4
5
6
7
8
9
10
11
Prefix for generated NMEA Sentence - Character 1+2
Every NMEA Sentence generated from the system begins with this two
letters
Default = “II” ( Integrated Instrumentation )
WARNING You have to enter the ASCII Value of the character, not the
character itself.
Example : To set character 1 to “I” and character 2 to “A”
$SNBSE,2,73
( Character “I” is a 73 in ascii )
$SNBSE,3,65
( Character “A” is a 65 in ascii ) See Ascii Table below
1= Echo every incoming NMEA Sentence
0 = Do not echo incoming NMEA sentences
N.A:
1 = Send $IIVHW Sentence when new Data from SeaTalk arrives
0 = Do not send $IIVHW Sentence
1 = Send $IIHDM Sentence when new Data from SeaTalk arrives
0 = Do not send $IIHDM Sentence
1 = Send $IIMWV Sentence when new Data from SeaTalk arrives
0 = Do not send $IIMWV Sentence
1 = Send $IIDBT Sentence when new Data from SeaTalk arrives
0 = Do not send $IIDBT Sentence
1 = Send $IIMTW Sentence when new Data from SeaTalk arrives
0 = Do not send $IIMTW Sentence
1 = Send $IIVLW Sentence when new Data from SeaTalk arrives
0 = Do not send $IIVLW Sentence
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12
13
14
15
Not used with USB SeaTalk NMEA Link
Not used with USB SeaTalk NMEA Link
0 = Speed over Ground from NMEA input is sent to SeaTalk bus as Speed
over Ground and as Speed through Water ( Needed for ST60 Wind
instrument, that does not recognise Speed Over Ground )
1 = Normal operation. No special SOG => STW handling) (default)
( See Webpage www.gadgetPool.de for more on this special ST60 Wind
function.
0 = Every incoming SeaTalk datagram is sent to NMEA as
"$STALK,xxx,yyy
– no matter if the system can interpret the SeaTalk data or not.
1 = Normal operation. Only SeaTalk sentences known to the system are
echoed as $STALK,xxx,yyy
Only valid if Address “0” is switch on.
16
17
18
19
20
21
22
23
25
0 = Don’t send any data to the SeaTalk Port. SeaTalk Port is READ-ONLY
0 = Display wind speed in knots. 1= Display wind speed in m/s
0 = Don’t send SOG to SeaTalk 1 = Send SOG to SeaTalk
0 = Don’t send Position to SeaTalk 1= Send Position to SeaTalk
0 = Display depth on SeaTalk instrument in feet, 1 = display in meters
Currently not used
0=send only RMC Sentence for Position
1=send GLL and RMC Sentence for Position
23+24 Offset of depth transducer. In mm ( +- 1000th Meter )
If this value is set to -1, the bridge will send DBT NMEA Sentence and no
offset will be used.
If this value is set to something between -32000 to 32000, the bridge will
produce DPT sentences including the offset.
0 = translate data from SeaTalk to NMEA even if already received from
NMEA ( default )
1 = if the same type of data are available on SeaTalk and NMEA,
stop translating of this type of data .
Needed if the PC Software echoes incoming NMEA Data to NMEA Port.
Example :
The bridge receives position data from SeaTalk from a SeaTalk GPS
-> It sends the position data as NMEA to the PC
-> The PC echoes position back to the bridge,
The bridge receives position data on it's NMEA Port.
In this case, Bridge would receive position data on it's SeaTalk port and
on it's NMEA Port. It would stop translating any new arriving position data from the
SeaTalk GPS because it “thinks” there are already position data available on the
NMEA side.
26
27
28
0=don't send RSA Sentence
1=send RSA Sentence for Rudder angle
Not available for SeaTalk NMEA Link
0 = Don't send Waypoint autopilot data to SeaTalk
1 = Send Waypoint autopilot data to SeaTalk (default)
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Reading actual configuration settings:
In your terminal program, enter
$SNBSE,address
( Example : $SNBSE,0
The bridge will respond
)
„ $SNBSE,0,0.001„
- Parameter 0 is currently set to 1 -
( Example : $SNBSE,1
The bridge will respond
)
„ $SNBSE,0,0.005„
- Parameter 1 is currently set to 5 -
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Software update
The Software can be updated by using the built in Bootstrap-Loader function.
If you find anything missing in the Software, if you should find any software errors or if you
have new ideas – just sent a mail to FWallenwein@gadgetPool.de
I can send new / revised software by E-Mail and you can update the controller software
yourself.
Bootstrap method advantages :
No Hardware programmer needed.
Just a PC Software is needed. ( Provided with every bridge on CD )
Latest Software versions can be found at http://www.gadgetPool.de
Bootstrap Loader
- Disconnect bridge from USB and from SeaTalk Bus.
- Connect the SeaTalk NMEA Bridge to your PC (plug in USB connector)
− Open a terminal program (i.e. Hyperterm),
select your serial port and set it to 4800 Baud, 8 Bit, no parity, no handshake.
Enter :
$SWUPDATE
The Bridge will respond with :
$SWUPDATE
Software Update Function will start in 40 sec.
......
Exit the terminal program.
Immediately start “Megaload” - the supplied bootstrap software - on the PC.
Open the program image file you would like to program into the bridge. ( xxx.hex )
Open the eeprom image file you would like to program into the bridge.
( xxx.eep )
Select 9600 Baud
Select your serial port in bootstrap software
Wait until the 40 sec. have passed.
The Bootstrap Software finds the SeaTalk NMEA Bridge and flashes the new software.
Warning:
Always select a proper image file. If a file not suitable for the bridge is selected ( like a text
file, an image file for a different device, or anything else ) the bridge software will be
reprogrammed with this wrong data and the bridge will not be working anymore !!
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PCB Layout
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SeaTalk & NMEA conversion Table
Function
Depth
SeaTalk ID
0
NMEA
DBT
Stalk -> NMEA NMEA->Stalk
X
X
X
X
Speed t. water
20
VHW
Speed t. water
Trip mileage
Total mileage
Water temperature
Water temperature
Total / Trip mileage
26
21
22
23
27
25
VHW
VLW
VLW
MTW
MTW
VLW
X
X
X
X
X
X
X
X
Wind angle
10
MWV
X
X
Wind speed
11
MWV
X
X
Compass
84
Compass ST40
Speed over ground
Course over ground
Compass heading
and Rudder position
Latitude
Latitude
Longitude
Longitude
UTC time
UTC time
# of sats
Date
Date
Target waypoint
name
89
52
53
Navigation to
waypoint Data
Special NM->ST
Special config.
9C
51
51
50
50
54
54
57
56
56
82
85
any
-
© 2004-2010 All Rights Reserved
HDM
(VHW)
HDM
RMC
RMC
HDM/
RSA
RMC
GLL
RMC
GLL
RMC
ZDA
GGA
RMC
ZDA
(See SNBSE,14)
X
X
X
X
X
X
X
X
X
RMB/
APB
RMB/
APB
$STALK
$SNBSE
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
HW Version 3.5 GI/ SW Version 1.62
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X
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S e a Ta l k < - > N M E A
S e a Ta l k < - > R S 2 3 2
Converter
News and Info on the web.
If you have any question or suggestions – there is a SeaTalk NMEA Bridge forum on our
web page. http://www.gadgetPool.de
Errata
© 2004-2010 All Rights Reserved
HW Version 3.5 GI/ SW Version 1.62
Page 22 of 23
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FWallenwein@tklinux.de
S e a Ta l k < - > N M E A
S e a Ta l k < - > R S 2 3 2
Converter
ASCII Table
Upper case letters
Character
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
Lower case letters
a
b
c
………………..
x
y
z
Digits
0
1
2
3
4
5
ASCII Value
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
97
98
99
120
121
122
48
49
50
51
52
53
© 2004-2010 All Rights Reserved
6
7
8
9
54
55
56
57
HW Version 3.5 GI/ SW Version 1.62
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